JointConstraintSampler is a class that allows the sampling of joints in a particular group of the robot, subject to a set of individual joint constraints. More...

#include <default_constraint_samplers.h>

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Classes
struct	JointInfo
	An internal structure used for maintaining constraints on a particular joint. More...

Public Member Functions
	JointConstraintSampler (const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name)

	JointConstraintSampler (const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, unsigned int seed)

bool	configure (const moveit_msgs::msg::Constraints &constr) override
	Configures a joint constraint given a Constraints message.

bool	configure (const std::vector< kinematic_constraints::JointConstraint > &jc)
	Configures a joint constraint given a vector of constraints.

bool	sample (moveit::core::RobotState &state, const moveit::core::RobotState &ks, unsigned int max_attempts) override
	Samples given the constraints, populating state. This function allows the parameter max_attempts to be set.

std::size_t	getConstrainedJointCount () const
	Gets the number of constrained joints - joints that have an additional bound beyond the joint limits.

std::size_t	getUnconstrainedJointCount () const
	Gets the number of unconstrained joints - joint that have no additional bound beyond the joint limits.

const std::string &	getName () const override
	Get the name of the constraint sampler, for debugging purposes should be in CamelCase format.

Public Member Functions inherited from constraint_samplers::ConstraintSampler
	ConstraintSampler (const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name)
	Constructor.

virtual	~ConstraintSampler ()

const std::string &	getGroupName () const
	Gets the group name set in the constructor.

const moveit::core::JointModelGroup *	getJointModelGroup () const
	Gets the joint model group.

const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const
	Gets the planning scene.

const std::vector< std::string > &	getFrameDependency () const
	Return the names of the mobile frames whose pose is needed when sample() is called.

const moveit::core::GroupStateValidityCallbackFn &	getGroupStateValidityCallback () const
	Gets the callback used to determine state validity during sampling. The sampler will attempt to satisfy this constraint if possible, but there is no guarantee.

void	setGroupStateValidityCallback (const moveit::core::GroupStateValidityCallbackFn &callback)
	Sets the callback used to determine the state validity during sampling. The sampler will attempt to satisfy this constraint if possible, but there is no guarantee.

bool	sample (moveit::core::RobotState &state)
	Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to take a sample.

bool	sample (moveit::core::RobotState &state, unsigned int max_attempts)
	Samples given the constraints, populating state. This function allows the parameter max_attempts to be set.

bool	sample (moveit::core::RobotState &state, const moveit::core::RobotState &reference_state)
	Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to take a sample.

bool	isValid () const
	Returns whether or not the constraint sampler is valid or not. To be valid, the joint model group must be available in the kinematic model and configure() must have successfully been called.

bool	getVerbose () const
	Check if the sampler is set to verbose mode.

virtual void	setVerbose (bool verbose)
	Enable/disable verbose mode for sampler.

Protected Member Functions
void	clear () override
	Clears all data from the constraint.

Protected Attributes
random_numbers::RandomNumberGenerator	random_number_generator_
	Random number generator used to sample.

std::vector< JointInfo >	bounds_
	The bounds for any joint with bounds that are more restrictive than the joint limits.

std::vector< const moveit::core::JointModel * >	unbounded_
	The joints that are not bounded except by joint limits.

std::vector< unsigned int >	uindex_
	The index of the unbounded joints in the joint state vector.

std::vector< double >	values_
	Values associated with this group to avoid continuously reallocating.

Protected Attributes inherited from constraint_samplers::ConstraintSampler
bool	is_valid_
	Holds the value for validity.

planning_scene::PlanningSceneConstPtr	scene_
	Holds the planning scene.

const moveit::core::JointModelGroup *const	jmg_
	Holds the joint model group associated with this constraint.

std::vector< std::string >	frame_depends_
	Holds the set of frames that must exist in the reference state to allow samples to be drawn.

moveit::core::GroupStateValidityCallbackFn	group_state_validity_callback_
	Holds the callback for state validity.

bool	verbose_
	True if verbosity is on.

Additional Inherited Members
Static Public Attributes inherited from constraint_samplers::ConstraintSampler
static const unsigned int	DEFAULT_MAX_SAMPLING_ATTEMPTS = 2
	The default value associated with a sampling request. By default if a valid sample cannot be produced in this many attempts, it returns with no sample.

Detailed Description

JointConstraintSampler is a class that allows the sampling of joints in a particular group of the robot, subject to a set of individual joint constraints.

The set of individual joint constraint reduce the allowable bounds used in the sampling. Unconstrained values will be sampled within their limits.

Definition at line 59 of file default_constraint_samplers.h.

Constructor & Destructor Documentation

◆ JointConstraintSampler() [1/2]

constraint_samplers::JointConstraintSampler::JointConstraintSampler	(	const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group_name
	)

inline

Constructor

Parameters

[in]	scene	The planning scene used to check the constraint
[in]	group_name	The group name associated with the constraint. Will be invalid if no group name is passed in or the joint model group cannot be found in the kinematic model

Definition at line 72 of file default_constraint_samplers.h.

◆ JointConstraintSampler() [2/2]

constraint_samplers::JointConstraintSampler::JointConstraintSampler	(	const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group_name,
		unsigned int	seed
	)

inline

Constructor

Parameters

[in]	scene	The planning scene used to check the constraint
[in]	group_name	The group name associated with the constraint. Will be invalid if no group name is passed in or the joint model group cannot be found in the kinematic model
[in]	seed	The rng seed to be used

Definition at line 89 of file default_constraint_samplers.h.

Member Function Documentation

◆ clear()

void constraint_samplers::JointConstraintSampler::clear ( )

overrideprotectedvirtual

Clears all data from the constraint.

Reimplemented from constraint_samplers::ConstraintSampler.

Definition at line 199 of file default_constraint_samplers.cpp.

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◆ configure() [1/2]

bool constraint_samplers::JointConstraintSampler::configure ( const moveit_msgs::msg::Constraints & constr )

overridevirtual

Configures a joint constraint given a Constraints message.

If more than one constraint for a particular joint is specified, the most restrictive set of bounds will be used (highest minimum value, lowest maximum value). For the configuration to be successful, the following condition must be met, in addition to the conditions specified in configure(const std::vector<kinematic_constraints::JointConstraint> &jc) :

The Constraints message must contain one or more valid joint constraints (where validity is judged by the ability to configure a JointConstraint)

Parameters

[in] constr The message containing the constraints

Returns: True if the conditions are met, otherwise false

Implements constraint_samplers::ConstraintSampler.

Definition at line 54 of file default_constraint_samplers.cpp.

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◆ configure() [2/2]

bool constraint_samplers::JointConstraintSampler::configure ( const std::vector< kinematic_constraints::JointConstraint > & jc )

Configures a joint constraint given a vector of constraints.

If more than one constraint for a particular joint is specified, the most restrictive set of bounds will be used (highest minimum value, lowest_maximum value. For the configuration to be successful, the following conditions must be met:

The vector must contain one or more valid, enabled joint constraints

At least one constraint must reference a joint in the indicated group. If no additional bounds exist for this group, then RobotState::setToRandomPositions() can be used to generate a sample independently from the constraint_samplers infrastructure.

The constraints must allow a sampleable region for all joints, where the most restrictive minimum bound is less than the most restrictive maximum bound

Parameters

[in] jc The vector of joint constraints

Returns: True if the conditions are met, otherwise false

Definition at line 68 of file default_constraint_samplers.cpp.

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◆ getConstrainedJointCount()

std::size_t constraint_samplers::JointConstraintSampler::getConstrainedJointCount ( ) const

inline

Gets the number of constrained joints - joints that have an additional bound beyond the joint limits.

Returns: The number of constrained joints.

Definition at line 150 of file default_constraint_samplers.h.

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◆ getName()

const std::string & constraint_samplers::JointConstraintSampler::getName ( ) const

inlineoverridevirtual

Get the name of the constraint sampler, for debugging purposes should be in CamelCase format.

Returns: string of name

Implements constraint_samplers::ConstraintSampler.

Definition at line 171 of file default_constraint_samplers.h.

◆ getUnconstrainedJointCount()

std::size_t constraint_samplers::JointConstraintSampler::getUnconstrainedJointCount ( ) const

inline

Gets the number of unconstrained joints - joint that have no additional bound beyond the joint limits.

Returns: The number of unconstrained joints.

Definition at line 161 of file default_constraint_samplers.h.

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◆ sample()

bool constraint_samplers::JointConstraintSampler::sample	(	moveit::core::RobotState &	state,
		const moveit::core::RobotState &	reference_state,
		unsigned int	max_attempts
	)

overridevirtual

Samples given the constraints, populating state. This function allows the parameter max_attempts to be set.

Parameters

[out]	state	The state into which the values will be placed. Only values for the group are written.
[in]	reference_state	Reference state that will be used to do transforms or perform other actions
[in]	max_attempts	The maximum number of times to attempt to draw a sample. If no sample has been drawn in this number of attempts, false will be returned.

Returns: True if a sample was successfully taken, false otherwise

Implements constraint_samplers::ConstraintSampler.

Definition at line 169 of file default_constraint_samplers.cpp.

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Member Data Documentation

◆ bounds_

std::vector<JointInfo> constraint_samplers::JointConstraintSampler::bounds_

protected

The bounds for any joint with bounds that are more restrictive than the joint limits.

Definition at line 215 of file default_constraint_samplers.h.

◆ random_number_generator_

random_numbers::RandomNumberGenerator constraint_samplers::JointConstraintSampler::random_number_generator_

protected

Random number generator used to sample.

Definition at line 214 of file default_constraint_samplers.h.

◆ uindex_

std::vector<unsigned int> constraint_samplers::JointConstraintSampler::uindex_

protected

The index of the unbounded joints in the joint state vector.

Definition at line 220 of file default_constraint_samplers.h.

◆ unbounded_

std::vector<const moveit::core::JointModel*> constraint_samplers::JointConstraintSampler::unbounded_

protected

The joints that are not bounded except by joint limits.

Definition at line 218 of file default_constraint_samplers.h.

◆ values_

std::vector<double> constraint_samplers::JointConstraintSampler::values_

protected

Values associated with this group to avoid continuously reallocating.

Definition at line 221 of file default_constraint_samplers.h.

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

moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
moveit_core/constraint_samplers/src/default_constraint_samplers.cpp

Classes

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JointConstraintSampler() [1/2]

◆ JointConstraintSampler() [2/2]

Member Function Documentation

◆ clear()

◆ configure() [1/2]

◆ configure() [2/2]

◆ getConstrainedJointCount()

◆ getName()

◆ getUnconstrainedJointCount()

◆ sample()

Member Data Documentation

◆ bounds_

◆ random_number_generator_

◆ uindex_

◆ unbounded_

◆ values_