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

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::JointConstraint:

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

bool	configure (const moveit_msgs::msg::JointConstraint &jc)
	Configure the constraint based on a moveit_msgs::msg::JointConstraint.

bool	equal (const KinematicConstraint &other, double margin) const override
	Check if two joint constraints are the same.

ConstraintEvaluationResult	decide (const moveit::core::RobotState &state, bool verbose=false) const override
	Decide whether the constraint is satisfied in the indicated state.

bool	enabled () const override
	This function returns true if this constraint is configured and able to decide whether states do meet the constraint or not. If this function returns false it means that decide() will always return true – there is no constraint to be checked.

void	clear () override
	Clear the stored constraint.

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

const moveit::core::JointModel *	getJointModel () const
	Get the joint model for which this constraint operates.

const std::string &	getLocalVariableName () const
	Gets the local variable name if this constraint was configured for a part of a multi-DOF joint.

const std::string &	getJointVariableName () const
	Gets the joint variable name, as known to the moveit::core::RobotModel.

int	getJointVariableIndex () const

double	getDesiredJointPosition () const
	Gets the desired position component of the constraint.

double	getJointToleranceAbove () const
	Gets the upper tolerance component of the joint constraint.

double	getJointToleranceBelow () const
	Gets the lower tolerance component of the joint constraint.

Public Member Functions inherited from kinematic_constraints::KinematicConstraint
	KinematicConstraint (const moveit::core::RobotModelConstPtr &model)
	Constructor.

virtual	~KinematicConstraint ()

ConstraintType	getType () const
	Get the type of constraint.

double	getConstraintWeight () const
	The weight of a constraint is a multiplicative factor associated to the distance computed by the decide() function.

const moveit::core::RobotModelConstPtr &	getRobotModel () const

Protected Attributes
const moveit::core::JointModel *	joint_model_
	The joint from the kinematic model for this constraint.

bool	joint_is_continuous_
	Whether or not the joint is continuous.

std::string	local_variable_name_
	The local variable name for a multi DOF joint, if any.

std::string	joint_variable_name_
	The joint variable name.

int	joint_variable_index_
	The index of the joint variable name in the full robot state.

double	joint_position_

double	joint_tolerance_above_

double	joint_tolerance_below_
	Position and tolerance values.

Protected Attributes inherited from kinematic_constraints::KinematicConstraint
ConstraintType	type_
	The type of the constraint.

moveit::core::RobotModelConstPtr	robot_model_
	The kinematic model associated with this constraint.

double	constraint_weight_
	The weight of a constraint is a multiplicative factor associated to the distance computed by the decide() function

Additional Inherited Members
Public Types inherited from kinematic_constraints::KinematicConstraint
enum	ConstraintType { UNKNOWN_CONSTRAINT , JOINT_CONSTRAINT , POSITION_CONSTRAINT , ORIENTATION_CONSTRAINT , VISIBILITY_CONSTRAINT }
	Enum for representing a constraint. More...

Detailed Description

Class for handling single DOF joint constraints.

This class handles single DOF constraints expressed as a tolerance above and below a target position. Multi-DOF joints can be accommodated by using local name formulations - i.e. for a planar joint specifying a constraint in terms of "planar_joint_name"/x.

Continuous revolute single DOF joints will be evaluated based on wrapping around 3.14 and -3.14. Tolerances above and below will be evaluating over the wrap. For instance, if the constraint value is 3.14 and the tolerance above is .04, a value of -3.14 is in bounds, as is a value of -3.12. -3.1 is out of bounds. Similarly, if the value of the constraint is -3.14, the tolerance above is .04, and the tolerance below is .02 then -3.1 is a valid value, as is 3.14; 3.1 is out of bounds.

Type will be JOINT_CONSTRAINT.

Definition at line 202 of file kinematic_constraint.h.

Constructor & Destructor Documentation

◆ JointConstraint()

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

inline

Constructor.

Parameters

[in] model The kinematic model used for constraint evaluation

Definition at line 210 of file kinematic_constraint.h.

Member Function Documentation

◆ clear()

void kinematic_constraints::JointConstraint::clear ( )

overridevirtual

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 333 of file kinematic_constraint.cpp.

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◆ configure()

bool kinematic_constraints::JointConstraint::configure ( const moveit_msgs::msg::JointConstraint & jc )

Configure the constraint based on a moveit_msgs::msg::JointConstraint.

For the configure command to be successful, the joint must exist in the kinematic model, the joint must not be a multi-DOF joint (for these joints, local variables should be used), and the tolerance values must be positive.

Parameters

[in] jc JointConstraint for configuration

Returns: True if constraint can be configured from jc

Definition at line 140 of file kinematic_constraint.cpp.

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◆ decide()

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

overridevirtual

Decide whether the constraint is satisfied in the indicated state.

Parameters

[in]	state	The kinematic state used for evaluation
[in]	verbose	Whether or not to print output

Returns

Implements kinematic_constraints::KinematicConstraint.

Definition at line 289 of file kinematic_constraint.cpp.

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◆ enabled()

bool kinematic_constraints::JointConstraint::enabled ( ) const

overridevirtual

This function returns true if this constraint is configured and able to decide whether states do meet the constraint or not. If this function returns false it means that decide() will always return true – there is no constraint to be checked.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 328 of file kinematic_constraint.cpp.

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◆ equal()

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

overridevirtual

Check if two joint constraints are the same.

This means that the types are the same, the subject of the constraint is the same, and all values associated with the constraint are within a margin. The other constraint must also be enabled. For this to be true of joint constraints, they must act on the same joint, and the position and tolerance values must be within the margins.

Parameters

[in]	other	The other constraint to test
[in]	margin	The margin to apply to all values associated with constraint

Returns: True if equal, otherwise false

Implements kinematic_constraints::KinematicConstraint.

Definition at line 275 of file kinematic_constraint.cpp.

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◆ getDesiredJointPosition()

double kinematic_constraints::JointConstraint::getDesiredJointPosition ( ) const

inline

Gets the desired position component of the constraint.

Returns: The desired joint position

Definition at line 298 of file kinematic_constraint.h.

◆ getJointModel()

const moveit::core::JointModel * kinematic_constraints::JointConstraint::getJointModel ( ) const

inline

Get the joint model for which this constraint operates.

Returns: The relevant joint model if enabled, and otherwise nullptr

Definition at line 258 of file kinematic_constraint.h.

◆ getJointToleranceAbove()

double kinematic_constraints::JointConstraint::getJointToleranceAbove ( ) const

inline

Gets the upper tolerance component of the joint constraint.

Returns: The above joint tolerance

Definition at line 309 of file kinematic_constraint.h.

◆ getJointToleranceBelow()

double kinematic_constraints::JointConstraint::getJointToleranceBelow ( ) const

inline

Gets the lower tolerance component of the joint constraint.

Returns: The below joint tolerance

Definition at line 320 of file kinematic_constraint.h.

◆ getJointVariableIndex()

int kinematic_constraints::JointConstraint::getJointVariableIndex ( ) const

inline

Definition at line 287 of file kinematic_constraint.h.

◆ getJointVariableName()

const std::string & kinematic_constraints::JointConstraint::getJointVariableName ( ) const

inline

Gets the joint variable name, as known to the moveit::core::RobotModel.

This will include the local variable name if a variable of a multi-DOF joint is constrained.

Returns: The joint variable name

Definition at line 282 of file kinematic_constraint.h.

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◆ getLocalVariableName()

const std::string & kinematic_constraints::JointConstraint::getLocalVariableName ( ) const

inline

Gets the local variable name if this constraint was configured for a part of a multi-DOF joint.

Returns: The component of the joint name after the slash, or the empty string if there is no local variable name

Definition at line 270 of file kinematic_constraint.h.

◆ print()

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

overridevirtual

Print the constraint data.

Parameters

[in] out The file descriptor for printing

Reimplemented from kinematic_constraints::KinematicConstraint.

Definition at line 343 of file kinematic_constraint.cpp.

Member Data Documentation

◆ joint_is_continuous_

bool kinematic_constraints::JointConstraint::joint_is_continuous_

protected

Whether or not the joint is continuous.

Definition at line 327 of file kinematic_constraint.h.

◆ joint_model_

const moveit::core::JointModel* kinematic_constraints::JointConstraint::joint_model_

protected

The joint from the kinematic model for this constraint.

Definition at line 326 of file kinematic_constraint.h.

◆ joint_position_

double kinematic_constraints::JointConstraint::joint_position_

protected

Definition at line 331 of file kinematic_constraint.h.

◆ joint_tolerance_above_

double kinematic_constraints::JointConstraint::joint_tolerance_above_

protected

Definition at line 331 of file kinematic_constraint.h.

◆ joint_tolerance_below_

double kinematic_constraints::JointConstraint::joint_tolerance_below_

protected

Position and tolerance values.

Definition at line 331 of file kinematic_constraint.h.

◆ joint_variable_index_

int kinematic_constraints::JointConstraint::joint_variable_index_

protected

The index of the joint variable name in the full robot state.

Definition at line 330 of file kinematic_constraint.h.

◆ joint_variable_name_

std::string kinematic_constraints::JointConstraint::joint_variable_name_

protected

The joint variable name.

Definition at line 329 of file kinematic_constraint.h.

◆ local_variable_name_

std::string kinematic_constraints::JointConstraint::local_variable_name_

protected

The local variable name for a multi DOF joint, if any.

Definition at line 328 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

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ JointConstraint()

Member Function Documentation

◆ clear()

◆ configure()

◆ decide()

◆ enabled()

◆ equal()

◆ getDesiredJointPosition()

◆ getJointModel()

◆ getJointToleranceAbove()

◆ getJointToleranceBelow()

◆ getJointVariableIndex()

◆ getJointVariableName()

◆ getLocalVariableName()

◆ print()

Member Data Documentation

◆ joint_is_continuous_

◆ joint_model_

◆ joint_position_

◆ joint_tolerance_above_

◆ joint_tolerance_below_

◆ joint_variable_index_

◆ joint_variable_name_

◆ local_variable_name_