Representation and evaluation of kinematic constraints. More...

Classes
struct	ConstraintEvaluationResult
	Struct for containing the results of constraint evaluation. More...

class	JointConstraint
	Class for handling single DOF joint constraints. More...

class	KinematicConstraint
	Base class for representing a kinematic constraint. More...

class	KinematicConstraintSet
	A class that contains many different constraints, and can check RobotState *versus the full set. A set is satisfied if and only if all constraints are satisfied. More...

class	OrientationConstraint
	Class for constraints on the orientation of a link. More...

class	PositionConstraint
	Class for constraints on the XYZ position of a link. More...

class	VisibilityConstraint
	Class for constraints on the visibility relationship between a sensor and a target. More...

Functions
template<typename Derived >
std::tuple< Eigen::Matrix< typename Eigen::MatrixBase< Derived >::Scalar, 3, 1 >, bool >	CalcEulerAngles (const Eigen::MatrixBase< Derived > &R)

static bool	collectConstraints (XmlRpc::XmlRpcValue &params, moveit_msgs::Constraints &constraints)

static bool	constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::JointConstraint &constraint)

static bool	constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::OrientationConstraint &constraint)

static bool	constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::PositionConstraint &constraint)

static bool	constructConstraint (XmlRpc::XmlRpcValue &params, moveit_msgs::VisibilityConstraint &constraint)

bool	constructConstraints (XmlRpc::XmlRpcValue &params, moveit_msgs::Constraints &constraints)
	extract constraint message from XmlRpc node. More...

moveit_msgs::Constraints	constructGoalConstraints (const moveit::core::RobotState &state, const moveit::core::JointModelGroup *jmg, double tolerance=std::numeric_limits< double >::epsilon())
	Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group. More...

moveit_msgs::Constraints	constructGoalConstraints (const moveit::core::RobotState &state, const moveit::core::JointModelGroup *jmg, double tolerance_below, double tolerance_above)
	Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group. More...

moveit_msgs::Constraints	constructGoalConstraints (const std::string &link_name, const geometry_msgs::Point &reference_point, const geometry_msgs::PointStamped &goal_point, double tolerance=1e-3)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region. More...

moveit_msgs::Constraints	constructGoalConstraints (const std::string &link_name, const geometry_msgs::PointStamped &goal_point, double tolerance=1e-3)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region. More...

moveit_msgs::Constraints	constructGoalConstraints (const std::string &link_name, const geometry_msgs::PoseStamped &pose, const std::vector< double > &tolerance_pos, const std::vector< double > &tolerance_angle)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A box will be used to represent the constraint region for the PositionConstraint. More...

moveit_msgs::Constraints	constructGoalConstraints (const std::string &link_name, const geometry_msgs::PoseStamped &pose, double tolerance_pos=1e-3, double tolerance_angle=1e-2)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A sphere will be used to represent the constraint region for the PositionConstraint. More...

moveit_msgs::Constraints	constructGoalConstraints (const std::string &link_name, const geometry_msgs::QuaternionStamped &quat, double tolerance=1e-2)
	Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only an OrientationConstraint. More...

static bool	constructPoseStamped (XmlRpc::XmlRpcValue::iterator &it, geometry_msgs::PoseStamped &pose)

std::size_t	countIndividualConstraints (const moveit_msgs::Constraints &constr)

static ConstraintEvaluationResult	finishPositionConstraintDecision (const Eigen::Vector3d &pt, const Eigen::Vector3d &desired, const std::string &name, double weight, bool result, bool verbose)

bool	isEmpty (const moveit_msgs::Constraints &constr)
	Check if any constraints were specified. More...

moveit_msgs::Constraints	mergeConstraints (const moveit_msgs::Constraints &first, const moveit_msgs::Constraints &second)
	Merge two sets of constraints into one. More...

	MOVEIT_CLASS_FORWARD (JointConstraint)

	MOVEIT_CLASS_FORWARD (KinematicConstraint)

	MOVEIT_CLASS_FORWARD (KinematicConstraintSet)

	MOVEIT_CLASS_FORWARD (OrientationConstraint)

	MOVEIT_CLASS_FORWARD (PositionConstraint)

	MOVEIT_CLASS_FORWARD (VisibilityConstraint)

static double	normalizeAbsoluteAngle (const double angle)

static double	normalizeAngle (double angle)

bool	resolveConstraintFrames (const moveit::core::RobotState &state, moveit_msgs::Constraints &constraints)
	Resolves frames used in constraints to links in the robot model. More...

Variables
const std::string	LOGNAME = "kinematic_constraint_utils"

Detailed Description

Representation and evaluation of kinematic constraints.

Function Documentation

◆ CalcEulerAngles()

template<typename Derived >

std::tuple<Eigen::Matrix<typename Eigen::MatrixBase<Derived>::Scalar, 3, 1>, bool> kinematic_constraints::CalcEulerAngles ( const Eigen::MatrixBase< Derived > & R )

This's copied from https://gitlab.com/libeigen/eigen/-/blob/master/unsupported/Eigen/src/EulerAngles/EulerSystem.h#L187 Return the intrinsic Roll-Pitch-Yaw euler angles given the input rotation matrix and boolean indicating whether the there's a singularity in the input rotation matrix (true: the input rotation matrix don't have a singularity, false: the input rotation matrix have a singularity) The returned angles are in the ranges [-pi:pi]x[-pi/2:pi/2]x[-pi:pi]

Definition at line 110 of file kinematic_constraint.cpp.

◆ collectConstraints()

static bool kinematic_constraints::collectConstraints	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::Constraints &	constraints
	)

static

Definition at line 481 of file utils.cpp.

◆ constructConstraint() [1/4]

static bool kinematic_constraints::constructConstraint	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::JointConstraint &	constraint
	)

static

Definition at line 301 of file utils.cpp.

◆ constructConstraint() [2/4]

static bool kinematic_constraints::constructConstraint	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::OrientationConstraint &	constraint
	)

static

Definition at line 406 of file utils.cpp.

◆ constructConstraint() [3/4]

static bool kinematic_constraints::constructConstraint	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::PositionConstraint &	constraint
	)

static

Definition at line 348 of file utils.cpp.

◆ constructConstraint() [4/4]

static bool kinematic_constraints::constructConstraint	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::VisibilityConstraint &	constraint
	)

static

Definition at line 444 of file utils.cpp.

◆ constructConstraints()

bool kinematic_constraints::constructConstraints	(	XmlRpc::XmlRpcValue &	params,
		moveit_msgs::Constraints &	constraints
	)

extract constraint message from XmlRpc node.

This can be used to construct a Constraints message from specifications uploaded on the parameter server.

Parameters

[in]	params	XmlRpc node of the parameter specification
[out]	constraints	The constructed constraints message

Returns: was the construction successful?

Definition at line 524 of file utils.cpp.

◆ constructGoalConstraints() [1/7]

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const moveit::core::RobotState &	state,
		const moveit::core::JointModelGroup *	jmg,
		double	tolerance = `std::numeric_limits<double>::epsilon()`
	)

Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group.

Parameters

[in]	state	The state from which to generate goal joint constraints
[in]	jmg	The group for which to generate joint constraints
[in]	tolerance	A tolerance to apply both above and below for all constraints

Returns: A full constraint message containing all the joint constraints

Definition at line 130 of file utils.cpp.

◆ constructGoalConstraints() [2/7]

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const moveit::core::RobotState &	state,
		const moveit::core::JointModelGroup *	jmg,
		double	tolerance_below,
		double	tolerance_above
	)

Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group.

Parameters

[in]	state	The state from which to generate goal joint constraints
[in]	jmg	The group for which to generate goal joint constraints
[in]	tolerance_below	The below tolerance to apply to all constraints
[in]	tolerance_above	The above tolerance to apply to all constraints

Returns: A full constraint message containing all the joint constraints

Definition at line 136 of file utils.cpp.

◆ constructGoalConstraints() [3/7]

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const std::string &	link_name,
		const geometry_msgs::Point &	reference_point,
		const geometry_msgs::PointStamped &	goal_point,
		double	tolerance = `1e-3`
	)

Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region.

Parameters

[in]	link_name	The link name for the PositionConstraint
[in]	reference_point	A point corresponding to the target_point_offset of the PositionConstraint
[in]	goal_point	The position associated with the constraint region
[in]	tolerance	The radius associated with the sphere volume associated with the constraint region

Returns: A full constraint message containing the position constraint

Definition at line 248 of file utils.cpp.

◆ constructGoalConstraints() [4/7]

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const std::string &	link_name,
		const geometry_msgs::PointStamped &	goal_point,
		double	tolerance = `1e-3`
	)

Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region.

Parameters

[in]	link_name	The link name for the PositionConstraint
[in]	goal_point	The position associated with the constraint region
[in]	tolerance	The radius associated with the sphere volume associated with the constraint region

Returns: A full constraint message containing the position constraint

Definition at line 238 of file utils.cpp.

◆ constructGoalConstraints() [5/7]

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const std::string &	link_name,
		const geometry_msgs::PoseStamped &	pose,
		const std::vector< double > &	tolerance_pos,
		const std::vector< double > &	tolerance_angle
	)

Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A box will be used to represent the constraint region for the PositionConstraint.

Parameters

[in]	link_name	The link name for both constraints
[in]	pose	The pose stamped to be used for the target region.
[in]	tolerance_pos	The dimensions of the box (xyz) associated with the target region of the PositionConstraint
[in]	tolerance_angle	The values to assign to the absolute tolerances (xyz) of the OrientationConstraint

Returns: A full constraint message containing both constraints

Definition at line 198 of file utils.cpp.

◆ constructGoalConstraints() [6/7]

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const std::string &	link_name,
		const geometry_msgs::PoseStamped &	pose,
		double	tolerance_pos = `1e-3`,
		double	tolerance_angle = `1e-2`
	)

Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A sphere will be used to represent the constraint region for the PositionConstraint.

Parameters

[in]	link_name	The link name for both constraints
[in]	pose	The pose stamped to be used for the target region.
[in]	tolerance_pos	The dimension of the sphere associated with the target region of the PositionConstraint
[in]	tolerance_angle	The value to assign to the absolute tolerances of the OrientationConstraint

Returns: A full constraint message containing both constraints

Definition at line 156 of file utils.cpp.

◆ constructGoalConstraints() [7/7]

moveit_msgs::Constraints kinematic_constraints::constructGoalConstraints	(	const std::string &	link_name,
		const geometry_msgs::QuaternionStamped &	quat,
		double	tolerance = `1e-2`
	)

Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only an OrientationConstraint.

Parameters

[in]	link_name	The link name for the OrientationConstraint
[in]	quat	The quaternion for the OrientationConstraint
[in]	tolerance	The absolute axes tolerances to apply to the OrientationConstraint

Returns: A full constraint message containing the orientation constraint

Definition at line 222 of file utils.cpp.

◆ constructPoseStamped()

static bool kinematic_constraints::constructPoseStamped	(	XmlRpc::XmlRpcValue::iterator &	it,
		geometry_msgs::PoseStamped &	pose
	)

static

Definition at line 279 of file utils.cpp.

◆ countIndividualConstraints()

std::size_t kinematic_constraints::countIndividualConstraints ( const moveit_msgs::Constraints & constr )

Definition at line 124 of file utils.cpp.

◆ finishPositionConstraintDecision()

static ConstraintEvaluationResult kinematic_constraints::finishPositionConstraintDecision	(	const Eigen::Vector3d &	pt,
		const Eigen::Vector3d &	desired,
		const std::string &	name,
		double	weight,
		bool	result,
		bool	verbose
	)

inlinestatic

Definition at line 506 of file kinematic_constraint.cpp.

◆ isEmpty()

bool kinematic_constraints::isEmpty ( const moveit_msgs::Constraints & constr )

Check if any constraints were specified.

Definition at line 119 of file utils.cpp.

◆ mergeConstraints()

moveit_msgs::Constraints kinematic_constraints::mergeConstraints	(	const moveit_msgs::Constraints &	first,
		const moveit_msgs::Constraints &	second
	)

Merge two sets of constraints into one.

This just does appending of all constraints except joint constraints. For members of type JointConstraint, the bounds specified in the parameter first take precedence over parameter second

Parameters

[in]	first	The first constraint to merge
[in]	second	The second constraint to merge

Returns: The merged set of constraints

Definition at line 50 of file utils.cpp.

◆ MOVEIT_CLASS_FORWARD() [1/6]

kinematic_constraints::MOVEIT_CLASS_FORWARD ( JointConstraint )

◆ MOVEIT_CLASS_FORWARD() [2/6]

kinematic_constraints::MOVEIT_CLASS_FORWARD ( KinematicConstraint )

◆ MOVEIT_CLASS_FORWARD() [3/6]

kinematic_constraints::MOVEIT_CLASS_FORWARD ( KinematicConstraintSet )

◆ MOVEIT_CLASS_FORWARD() [4/6]

kinematic_constraints::MOVEIT_CLASS_FORWARD ( OrientationConstraint )

◆ MOVEIT_CLASS_FORWARD() [5/6]

kinematic_constraints::MOVEIT_CLASS_FORWARD ( PositionConstraint )

◆ MOVEIT_CLASS_FORWARD() [6/6]

kinematic_constraints::MOVEIT_CLASS_FORWARD ( VisibilityConstraint )

◆ normalizeAbsoluteAngle()

static double kinematic_constraints::normalizeAbsoluteAngle ( const double angle )

static

Definition at line 95 of file kinematic_constraint.cpp.

◆ normalizeAngle()

static double kinematic_constraints::normalizeAngle ( double angle )

static

Definition at line 83 of file kinematic_constraint.cpp.

◆ resolveConstraintFrames()

bool kinematic_constraints::resolveConstraintFrames	(	const moveit::core::RobotState &	state,
		moveit_msgs::Constraints &	constraints
	)

Resolves frames used in constraints to links in the robot model.

The link_name field of a constraint is changed from the name of an object's frame or subframe to the name of the robot link that the object is attached to.

This is used in a planning request adapter which ensures that the planning problem is defined properly (the attached objects' frames are not known to the planner).

Parameters

[in]	state	The RobotState used to resolve frames.
[in]	constraints	The constraint to resolve.

Definition at line 533 of file utils.cpp.

Variable Documentation

◆ LOGNAME

const std::string kinematic_constraints::LOGNAME = "kinematic_constraint_utils"

Definition at line 48 of file utils.cpp.

Classes

Functions

Variables

Detailed Description

Function Documentation

◆ CalcEulerAngles()

◆ collectConstraints()

◆ constructConstraint() [1/4]

◆ constructConstraint() [2/4]

◆ constructConstraint() [3/4]

◆ constructConstraint() [4/4]

◆ constructConstraints()

◆ constructGoalConstraints() [1/7]

◆ constructGoalConstraints() [2/7]

◆ constructGoalConstraints() [3/7]

◆ constructGoalConstraints() [4/7]

◆ constructGoalConstraints() [5/7]

◆ constructGoalConstraints() [6/7]

◆ constructGoalConstraints() [7/7]

◆ constructPoseStamped()

◆ countIndividualConstraints()

◆ finishPositionConstraintDecision()

◆ isEmpty()

◆ mergeConstraints()

◆ MOVEIT_CLASS_FORWARD() [1/6]

◆ MOVEIT_CLASS_FORWARD() [2/6]

◆ MOVEIT_CLASS_FORWARD() [3/6]

◆ MOVEIT_CLASS_FORWARD() [4/6]

◆ MOVEIT_CLASS_FORWARD() [5/6]

◆ MOVEIT_CLASS_FORWARD() [6/6]

◆ normalizeAbsoluteAngle()

◆ normalizeAngle()

◆ resolveConstraintFrames()

Variable Documentation

◆ LOGNAME