Function moveit_ros::trajectory_cache::appendRobotStateJointStateAsInsertMetadata

Function Documentation

moveit::core::MoveItErrorCode moveit_ros::trajectory_cache::appendRobotStateJointStateAsInsertMetadata(warehouse_ros::Metadata &metadata, const moveit_msgs::msg::RobotState &robot_state, const moveit::planning_interface::MoveGroupInterface &move_group, const std::string &prefix)

Extracts relevant features from a vector of moveit_msgs::msg::Constraints messages to a cache entry’s metadata.

This will extract relevant features from the joint, position, and orientation constraints per element. This exists because many keyable messages contain constraints which should be handled similarly.

WARNING: Visibility constraints and constraint regions are not supported.

Additionally, the component constraints within each vector element are sorted to reduce cache cardinality. For the same reason, constraints with frames are restated in terms of the workspace frame.

We copy the input constraints to support this.

Parameters:

  • metadata. – [inout] The metadata to add features to.

  • robot_state. – [in] The robot state to extract features from.

  • move_group. – [in] The manipulator move group, used to get its state.

  • prefix. – [in] A prefix to add to feature keys.

Returns:

moveit::core::MoveItErrorCode::SUCCESS if successfully appended. Otherwise, will return a different error code, in which case the metadata should not be reused.