moveit2
The MoveIt Motion Planning Framework for ROS 2.

Class for handling single DOF joint constraints. More...
#include <kinematic_constraint.h>
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 multiDOF 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...  
Class for handling single DOF joint constraints.
This class handles single DOF constraints expressed as a tolerance above and below a target position. MultiDOF 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.

inline 
Constructor.
[in]  model  The kinematic model used for constraint evaluation 
Definition at line 210 of file kinematic_constraint.h.

overridevirtual 
Clear the stored constraint.
Implements kinematic_constraints::KinematicConstraint.
Definition at line 333 of file kinematic_constraint.cpp.
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 multiDOF joint (for these joints, local variables should be used), and the tolerance values must be positive.
[in]  jc  JointConstraint for configuration 
Definition at line 140 of file kinematic_constraint.cpp.

overridevirtual 
Decide whether the constraint is satisfied in the indicated state.
[in]  state  The kinematic state used for evaluation 
[in]  verbose  Whether or not to print output 
Implements kinematic_constraints::KinematicConstraint.
Definition at line 289 of file kinematic_constraint.cpp.

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.

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.
[in]  other  The other constraint to test 
[in]  margin  The margin to apply to all values associated with constraint 
Implements kinematic_constraints::KinematicConstraint.
Definition at line 275 of file kinematic_constraint.cpp.

inline 
Gets the desired position component of the constraint.
Definition at line 298 of file kinematic_constraint.h.

inline 
Get the joint model for which this constraint operates.
Definition at line 258 of file kinematic_constraint.h.

inline 
Gets the upper tolerance component of the joint constraint.
Definition at line 309 of file kinematic_constraint.h.

inline 
Gets the lower tolerance component of the joint constraint.
Definition at line 320 of file kinematic_constraint.h.

inline 
Definition at line 287 of file kinematic_constraint.h.

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 multiDOF joint is constrained.
Definition at line 282 of file kinematic_constraint.h.

inline 
Gets the local variable name if this constraint was configured for a part of a multiDOF joint.
Definition at line 270 of file kinematic_constraint.h.

overridevirtual 
Print the constraint data.
[in]  out  The file descriptor for printing 
Reimplemented from kinematic_constraints::KinematicConstraint.
Definition at line 343 of file kinematic_constraint.cpp.

protected 
Whether or not the joint is continuous.
Definition at line 327 of file kinematic_constraint.h.

protected 
The joint from the kinematic model for this constraint.
Definition at line 326 of file kinematic_constraint.h.

protected 
Definition at line 331 of file kinematic_constraint.h.

protected 
Definition at line 331 of file kinematic_constraint.h.

protected 
Position and tolerance values.
Definition at line 331 of file kinematic_constraint.h.

protected 
The index of the joint variable name in the full robot state.
Definition at line 330 of file kinematic_constraint.h.

protected 
The joint variable name.
Definition at line 329 of file kinematic_constraint.h.

protected 
The local variable name for a multi DOF joint, if any.
Definition at line 328 of file kinematic_constraint.h.