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...

#include <kinematic_constraint.h>

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Public Member Functions
	KinematicConstraintSet (const moveit::core::RobotModelConstPtr &model)
	Constructor. More...

	~KinematicConstraintSet ()

void	clear ()
	Clear the stored constraints. More...

bool	add (const moveit_msgs::msg::Constraints &c, const moveit::core::Transforms &tf)
	Add all known constraints. More...

bool	add (const std::vector< moveit_msgs::msg::JointConstraint > &jc)
	Add a vector of joint constraints. More...

bool	add (const std::vector< moveit_msgs::msg::PositionConstraint > &pc, const moveit::core::Transforms &tf)
	Add a vector of position constraints. More...

bool	add (const std::vector< moveit_msgs::msg::OrientationConstraint > &oc, const moveit::core::Transforms &tf)
	Add a vector of orientation constraints. More...

bool	add (const std::vector< moveit_msgs::msg::VisibilityConstraint > &vc, const moveit::core::Transforms &tf)
	Add a vector of visibility constraints. More...

ConstraintEvaluationResult	decide (const moveit::core::RobotState &state, bool verbose=false) const
	Determines whether all constraints are satisfied by state, returning a single evaluation result. More...

ConstraintEvaluationResult	decide (const moveit::core::RobotState &state, std::vector< ConstraintEvaluationResult > &results, bool verbose=false) const
	Determines whether all constraints are satisfied by state, returning a vector of results through a parameter in addition to a summed result. More...

bool	equal (const KinematicConstraintSet &other, double margin) const
	Whether or not another KinematicConstraintSet is equal to this one. More...

void	print (std::ostream &out=std::cout) const
	Print the constraint data. More...

const std::vector< moveit_msgs::msg::PositionConstraint > &	getPositionConstraints () const
	Get all position constraints in the set. More...

const std::vector< moveit_msgs::msg::OrientationConstraint > &	getOrientationConstraints () const
	Get all orientation constraints in the set. More...

const std::vector< moveit_msgs::msg::JointConstraint > &	getJointConstraints () const
	Get all joint constraints in the set. More...

const std::vector< moveit_msgs::msg::VisibilityConstraint > &	getVisibilityConstraints () const
	Get all visibility constraints in the set. More...

const moveit_msgs::msg::Constraints &	getAllConstraints () const
	Get all constraints in the set. More...

bool	empty () const
	Returns whether or not there are any constraints in the set. More...

Protected Attributes
moveit::core::RobotModelConstPtr	robot_model_
	The kinematic model used for by the Set. More...

std::vector< KinematicConstraintPtr >	kinematic_constraints_
	Shared pointers to all the member constraints. More...

std::vector< moveit_msgs::msg::JointConstraint >	joint_constraints_
	Messages corresponding to all internal joint constraints. More...

std::vector< moveit_msgs::msg::PositionConstraint >	position_constraints_
	Messages corresponding to all internal position constraints. More...

std::vector< moveit_msgs::msg::OrientationConstraint >	orientation_constraints_
	Messages corresponding to all internal orientation constraints. More...

std::vector< moveit_msgs::msg::VisibilityConstraint >	visibility_constraints_
	Messages corresponding to all internal visibility constraints. More...

moveit_msgs::msg::Constraints	all_constraints_
	Messages corresponding to all internal constraints. More...

Detailed Description

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.

The set may contain any number of different kinds of constraints. All constraints, including invalid ones, are stored internally.

Definition at line 871 of file kinematic_constraint.h.

Constructor & Destructor Documentation

◆ KinematicConstraintSet()

kinematic_constraints::KinematicConstraintSet::KinematicConstraintSet ( const moveit::core::RobotModelConstPtr & model )

inline

Constructor.

Parameters

[in] model The kinematic model used for constraint evaluation

Definition at line 882 of file kinematic_constraint.h.

◆ ~KinematicConstraintSet()

kinematic_constraints::KinematicConstraintSet::~KinematicConstraintSet ( )

inline

Definition at line 886 of file kinematic_constraint.h.

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Member Function Documentation

◆ add() [1/5]

bool kinematic_constraints::KinematicConstraintSet::add	(	const moveit_msgs::msg::Constraints &	c,
		const moveit::core::Transforms &	tf
	)

Add all known constraints.

Parameters

[in] c A message potentially contain vectors of constraints of add types

Returns: Whether or not all constraints could be successfully configured given the contents of the message. The KinematicConstraintSet can still be used even if the addition returns false.

Definition at line 1250 of file kinematic_constraint.cpp.

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◆ add() [2/5]

bool kinematic_constraints::KinematicConstraintSet::add ( const std::vector< moveit_msgs::msg::JointConstraint > & jc )

Add a vector of joint constraints.

Parameters

[in] jc A vector of joint constraints

Returns: Will return true only if all constraints are valid, and false otherwise

Definition at line 1187 of file kinematic_constraint.cpp.

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◆ add() [3/5]

bool kinematic_constraints::KinematicConstraintSet::add	(	const std::vector< moveit_msgs::msg::OrientationConstraint > &	oc,
		const moveit::core::Transforms &	tf
	)

Add a vector of orientation constraints.

Parameters

[in] oc A vector of orientation constraints

Returns: Will return true only if all constraints are valid, and false otherwise

Definition at line 1218 of file kinematic_constraint.cpp.

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◆ add() [4/5]

bool kinematic_constraints::KinematicConstraintSet::add	(	const std::vector< moveit_msgs::msg::PositionConstraint > &	pc,
		const moveit::core::Transforms &	tf
	)

Add a vector of position constraints.

Parameters

[in] pc A vector of position constraints

Returns: Will return true only if all constraints are valid, and false otherwise

Definition at line 1202 of file kinematic_constraint.cpp.

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◆ add() [5/5]

bool kinematic_constraints::KinematicConstraintSet::add	(	const std::vector< moveit_msgs::msg::VisibilityConstraint > &	vc,
		const moveit::core::Transforms &	tf
	)

Add a vector of visibility constraints.

Parameters

[in] vc A vector of visibility constraints

Returns: Will return true only if all constraints are valid, and false otherwise

Definition at line 1234 of file kinematic_constraint.cpp.

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◆ clear()

void kinematic_constraints::KinematicConstraintSet::clear ( )

Clear the stored constraints.

Definition at line 1177 of file kinematic_constraint.cpp.

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◆ decide() [1/2]

ConstraintEvaluationResult kinematic_constraints::KinematicConstraintSet::decide	(	const moveit::core::RobotState &	state,
		bool	verbose = `false`
	)		const

Determines whether all constraints are satisfied by state, returning a single evaluation result.

Parameters

[in]	state	The state to test
[in]	verbose	Whether or not to make each constraint give debug output

Returns: A single constraint evaluation result, where it will report satisfied only if all constraints are satisfied, and with a distance that is the sum of all individual distances.

Definition at line 1259 of file kinematic_constraint.cpp.

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◆ decide() [2/2]

ConstraintEvaluationResult kinematic_constraints::KinematicConstraintSet::decide	(	const moveit::core::RobotState &	state,
		std::vector< ConstraintEvaluationResult > &	results,
		bool	verbose = `false`
	)		const

Determines whether all constraints are satisfied by state, returning a vector of results through a parameter in addition to a summed result.

Parameters

[in]	state	The state to test
[out]	results	The individual results from constraint evaluation on each constraint contained in the set.
[in]	verbose	Whether to print the results of each constraint check.

Returns: A single constraint evaluation result, where it will report satisfied only if all constraints are satisfied, and with a distance that is the sum of all individual distances.

Definition at line 1272 of file kinematic_constraint.cpp.

◆ empty()

bool kinematic_constraints::KinematicConstraintSet::empty ( ) const

inline

Returns whether or not there are any constraints in the set.

Returns: True if there are no constraints, otherwise false.

Definition at line 1061 of file kinematic_constraint.h.

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◆ equal()

bool kinematic_constraints::KinematicConstraintSet::equal	(	const KinematicConstraintSet &	other,
		double	margin
	)		const

Whether or not another KinematicConstraintSet is equal to this one.

Equality means that for each constraint in this set there is a constraint in the other set for which equal() is true with the given margin. Multiple constraints in this set can be matched to single constraints in the other set. Some constraints in the other set may not be matched to constraints in this set.

Parameters

[in]	other	The other set against which to test
[in]	margin	The margin to apply to all individual constraint equality tests

Returns: True if all constraints are matched, false otherwise

Definition at line 1295 of file kinematic_constraint.cpp.

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◆ getAllConstraints()

const moveit_msgs::msg::Constraints& kinematic_constraints::KinematicConstraintSet::getAllConstraints ( ) const

inline

Get all constraints in the set.

Returns: All constraints in a single message

Definition at line 1050 of file kinematic_constraint.h.

◆ getJointConstraints()

const std::vector<moveit_msgs::msg::JointConstraint>& kinematic_constraints::KinematicConstraintSet::getJointConstraints ( ) const

inline

Get all joint constraints in the set.

Returns: All joint constraints

Definition at line 1028 of file kinematic_constraint.h.

◆ getOrientationConstraints()

const std::vector<moveit_msgs::msg::OrientationConstraint>& kinematic_constraints::KinematicConstraintSet::getOrientationConstraints ( ) const

inline

Get all orientation constraints in the set.

Returns: All orientation constraints

Definition at line 1017 of file kinematic_constraint.h.

◆ getPositionConstraints()

const std::vector<moveit_msgs::msg::PositionConstraint>& kinematic_constraints::KinematicConstraintSet::getPositionConstraints ( ) const

inline

Get all position constraints in the set.

Returns: All position constraints

Definition at line 1006 of file kinematic_constraint.h.

◆ getVisibilityConstraints()

const std::vector<moveit_msgs::msg::VisibilityConstraint>& kinematic_constraints::KinematicConstraintSet::getVisibilityConstraints ( ) const

inline

Get all visibility constraints in the set.

Returns: All visibility constraints

Definition at line 1039 of file kinematic_constraint.h.

◆ print()

void kinematic_constraints::KinematicConstraintSet::print ( std::ostream & out = std::cout ) const

Print the constraint data.

Parameters

[in] out The file stream for printing

Definition at line 1288 of file kinematic_constraint.cpp.

Member Data Documentation

◆ all_constraints_

moveit_msgs::msg::Constraints kinematic_constraints::KinematicConstraintSet::all_constraints_

protected

Messages corresponding to all internal constraints.

Definition at line 1081 of file kinematic_constraint.h.

◆ joint_constraints_

std::vector<moveit_msgs::msg::JointConstraint> kinematic_constraints::KinematicConstraintSet::joint_constraints_

protected

Messages corresponding to all internal joint constraints.

Definition at line 1071 of file kinematic_constraint.h.

◆ kinematic_constraints_

std::vector<KinematicConstraintPtr> kinematic_constraints::KinematicConstraintSet::kinematic_constraints_

protected

Shared pointers to all the member constraints.

Definition at line 1069 of file kinematic_constraint.h.

◆ orientation_constraints_

std::vector<moveit_msgs::msg::OrientationConstraint> kinematic_constraints::KinematicConstraintSet::orientation_constraints_

protected

Messages corresponding to all internal orientation constraints.

Definition at line 1075 of file kinematic_constraint.h.

◆ position_constraints_

std::vector<moveit_msgs::msg::PositionConstraint> kinematic_constraints::KinematicConstraintSet::position_constraints_

protected

Messages corresponding to all internal position constraints.

Definition at line 1073 of file kinematic_constraint.h.

◆ robot_model_

moveit::core::RobotModelConstPtr kinematic_constraints::KinematicConstraintSet::robot_model_

protected

The kinematic model used for by the Set.

Definition at line 1067 of file kinematic_constraint.h.

◆ visibility_constraints_

std::vector<moveit_msgs::msg::VisibilityConstraint> kinematic_constraints::KinematicConstraintSet::visibility_constraints_

protected

Messages corresponding to all internal visibility constraints.

Definition at line 1078 of file kinematic_constraint.h.

The documentation for this class was generated from the following files:

moveit_core/kinematic_constraints/include/moveit/kinematic_constraints/kinematic_constraint.h
moveit_core/kinematic_constraints/src/kinematic_constraint.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ KinematicConstraintSet()

◆ ~KinematicConstraintSet()

Member Function Documentation

◆ add() [1/5]

◆ add() [2/5]

◆ add() [3/5]

◆ add() [4/5]

◆ add() [5/5]

◆ clear()

◆ decide() [1/2]

◆ decide() [2/2]

◆ empty()

◆ equal()

◆ getAllConstraints()

◆ getJointConstraints()

◆ getOrientationConstraints()

◆ getPositionConstraints()

◆ getVisibilityConstraints()

◆ print()

Member Data Documentation

◆ all_constraints_

◆ joint_constraints_

◆ kinematic_constraints_

◆ orientation_constraints_

◆ position_constraints_

◆ robot_model_

◆ visibility_constraints_