Base class for representing a kinematic constraint. More...

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::KinematicConstraint:

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Public Types
enum	ConstraintType { UNKNOWN_CONSTRAINT , JOINT_CONSTRAINT , POSITION_CONSTRAINT , ORIENTATION_CONSTRAINT , VISIBILITY_CONSTRAINT }
	Enum for representing a constraint. More...

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

virtual	~KinematicConstraint ()

virtual void	clear ()=0
	Clear the stored constraint.

virtual ConstraintEvaluationResult	decide (const moveit::core::RobotState &state, bool verbose=false) const =0
	Decide whether the constraint is satisfied in the indicated state.

virtual bool	enabled () const =0
	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.

virtual bool	equal (const KinematicConstraint &other, double margin) const =0
	Check if two 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.

ConstraintType	getType () const
	Get the type of constraint.

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

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
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

Detailed Description

Base class for representing a kinematic constraint.

Definition at line 77 of file kinematic_constraint.h.

Member Enumeration Documentation

◆ ConstraintType

enum kinematic_constraints::KinematicConstraint::ConstraintType

Enum for representing a constraint.

Enumerator
UNKNOWN_CONSTRAINT
JOINT_CONSTRAINT
POSITION_CONSTRAINT
ORIENTATION_CONSTRAINT
VISIBILITY_CONSTRAINT

Definition at line 81 of file kinematic_constraint.h.

Constructor & Destructor Documentation

◆ KinematicConstraint()

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

Constructor.

Parameters

[in] model The kinematic model used for constraint evaluation

Definition at line 133 of file kinematic_constraint.cpp.

◆ ~KinematicConstraint()

kinematic_constraints::KinematicConstraint::~KinematicConstraint ( )

virtualdefault

Member Function Documentation

◆ clear()

virtual void kinematic_constraints::KinematicConstraint::clear ( )

pure virtual

Clear the stored constraint.

Implemented in kinematic_constraints::JointConstraint, kinematic_constraints::OrientationConstraint, kinematic_constraints::PositionConstraint, and kinematic_constraints::VisibilityConstraint.

◆ decide()

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

pure virtual

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

Implemented in kinematic_constraints::JointConstraint, kinematic_constraints::OrientationConstraint, kinematic_constraints::PositionConstraint, and kinematic_constraints::VisibilityConstraint.

◆ enabled()

virtual bool kinematic_constraints::KinematicConstraint::enabled ( ) const

pure virtual

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.

Implemented in kinematic_constraints::JointConstraint, kinematic_constraints::OrientationConstraint, kinematic_constraints::PositionConstraint, and kinematic_constraints::VisibilityConstraint.

◆ equal()

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

pure virtual

Check if two 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.

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

Implemented in kinematic_constraints::JointConstraint, kinematic_constraints::OrientationConstraint, kinematic_constraints::PositionConstraint, and kinematic_constraints::VisibilityConstraint.

◆ getConstraintWeight()

double kinematic_constraints::KinematicConstraint::getConstraintWeight ( ) const

inline

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

Returns: The constraint weight

Definition at line 158 of file kinematic_constraint.h.

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◆ getRobotModel()

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

inline

Returns: The kinematic model associated with this constraint

Definition at line 169 of file kinematic_constraint.h.

◆ getType()

ConstraintType kinematic_constraints::KinematicConstraint::getType ( ) const

inline

Get the type of constraint.

Returns: The constraint type

Definition at line 137 of file kinematic_constraint.h.

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◆ print()

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

inlinevirtual

Print the constraint data.

Parameters

[in] out The file descriptor for printing

Reimplemented in kinematic_constraints::JointConstraint, kinematic_constraints::OrientationConstraint, kinematic_constraints::PositionConstraint, and kinematic_constraints::VisibilityConstraint.

Definition at line 147 of file kinematic_constraint.h.

Member Data Documentation

◆ constraint_weight_

double kinematic_constraints::KinematicConstraint::constraint_weight_

protected

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

Definition at line 177 of file kinematic_constraint.h.

◆ robot_model_

moveit::core::RobotModelConstPtr kinematic_constraints::KinematicConstraint::robot_model_

protected

The kinematic model associated with this constraint.

Definition at line 176 of file kinematic_constraint.h.

◆ type_

ConstraintType kinematic_constraints::KinematicConstraint::type_

protected

The type of the constraint.

Definition at line 175 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 Types

Public Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ ConstraintType

Constructor & Destructor Documentation

◆ KinematicConstraint()

◆ ~KinematicConstraint()

Member Function Documentation

◆ clear()

◆ decide()

◆ enabled()

◆ equal()

◆ getConstraintWeight()

◆ getRobotModel()

◆ getType()

◆ print()

Member Data Documentation

◆ constraint_weight_

◆ robot_model_

◆ type_