Class for constraints on the orientation of a link. More...

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::OrientationConstraint:

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

bool	configure (const moveit_msgs::msg::OrientationConstraint &oc, const moveit::core::Transforms &tf)
	Configure the constraint based on a moveit_msgs::msg::OrientationConstraint.

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

void	clear () override
	Clear the stored constraint.

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

const moveit::core::LinkModel *	getLinkModel () const
	Gets the subject link model.

const std::string &	getReferenceFrame () const
	The target frame of the planning_models::Transforms class, for interpreting the rotation frame.

bool	mobileReferenceFrame () const
	Whether or not a mobile reference frame is being employed.

const Eigen::Matrix3d &	getDesiredRotationMatrixInRefFrame () const
	The rotation target in the reference frame.

const Eigen::Matrix3d &	getDesiredRotationMatrix () const
	The rotation target in the reference or tf frame.

double	getXAxisTolerance () const
	Gets the X axis tolerance.

double	getYAxisTolerance () const
	Gets the Y axis tolerance.

double	getZAxisTolerance () const
	Gets the Z axis tolerance.

int	getParameterizationType () const

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::LinkModel *	link_model_

Eigen::Matrix3d	desired_R_in_frame_id_

Eigen::Matrix3d	desired_rotation_matrix_

Eigen::Matrix3d	desired_rotation_matrix_inv_

std::string	desired_rotation_frame_id_

bool	mobile_frame_

int	parameterization_type_

double	absolute_x_axis_tolerance_

double	absolute_y_axis_tolerance_

double	absolute_z_axis_tolerance_

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 constraints on the orientation of a link.

This class expresses an orientation constraint on a particular link. The constraint specifies a target orientation via a quaternion as well as tolerances on X,Y, and Z rotation axes. The rotation difference between the target and actual link orientation is expressed either as XYZ Euler angles or as a rotation vector (depending on the parameterization type). The latter is highly recommended, because it supports resolution of subframes and attached bodies. Also, rotation vector representation allows to interpret the tolerances always w.r.t. the given reference frame. Euler angles are much more restricted and exhibit singularities.

For efficiency, if the target orientation is expressed w.r.t. to a fixed frame (relative to the planning frame), some stuff is precomputed. However, mobile reference frames are supported as well.

The type value will return ORIENTATION_CONSTRAINT.

Definition at line 354 of file kinematic_constraint.h.

Constructor & Destructor Documentation

◆ OrientationConstraint()

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

inline

Constructor.

Parameters

[in] model The kinematic model used for constraint evaluation

Definition at line 365 of file kinematic_constraint.h.

Member Function Documentation

◆ clear()

void kinematic_constraints::OrientationConstraint::clear ( )

overridevirtual

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 693 of file kinematic_constraint.cpp.

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◆ configure()

bool kinematic_constraints::OrientationConstraint::configure	(	const moveit_msgs::msg::OrientationConstraint &	oc,
		const moveit::core::Transforms &	tf
	)

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

For the configure command to be successful, the link must exist in the kinematic model. Note that if the absolute tolerance values are left as 0.0 only values less than a very small epsilon will evaluate to satisfied.

Parameters

[in] oc OrientationConstraint for configuration

Returns: True if constraint can be configured from oc

Definition at line 594 of file kinematic_constraint.cpp.

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◆ decide()

ConstraintEvaluationResult kinematic_constraints::OrientationConstraint::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 708 of file kinematic_constraint.cpp.

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◆ enabled()

bool kinematic_constraints::OrientationConstraint::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 703 of file kinematic_constraint.cpp.

◆ equal()

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

overridevirtual

Check if two orientation 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 orientation constraints:

The link must be the same
The rotations specified by the quaternions must be within the margin
The tolerances must all be within the margin

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 675 of file kinematic_constraint.cpp.

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◆ getDesiredRotationMatrix()

const Eigen::Matrix3d & kinematic_constraints::OrientationConstraint::getDesiredRotationMatrix ( ) const

inline

The rotation target in the reference or tf frame.

Returns: The target rotation.

The returned matrix is always a valid rotation matrix.

Definition at line 462 of file kinematic_constraint.h.

◆ getDesiredRotationMatrixInRefFrame()

const Eigen::Matrix3d & kinematic_constraints::OrientationConstraint::getDesiredRotationMatrixInRefFrame ( ) const

inline

The rotation target in the reference frame.

Returns: The target rotation.

The returned matrix is always a valid rotation matrix.

Definition at line 449 of file kinematic_constraint.h.

◆ getLinkModel()

const moveit::core::LinkModel * kinematic_constraints::OrientationConstraint::getLinkModel ( ) const

inline

Gets the subject link model.

Returns: Returns the current link model

Definition at line 415 of file kinematic_constraint.h.

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◆ getParameterizationType()

int kinematic_constraints::OrientationConstraint::getParameterizationType ( ) const

inline

Definition at line 501 of file kinematic_constraint.h.

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◆ getReferenceFrame()

const std::string & kinematic_constraints::OrientationConstraint::getReferenceFrame ( ) const

inline

The target frame of the planning_models::Transforms class, for interpreting the rotation frame.

Returns: The reference frame.

Definition at line 426 of file kinematic_constraint.h.

◆ getXAxisTolerance()

double kinematic_constraints::OrientationConstraint::getXAxisTolerance ( ) const

inline

Gets the X axis tolerance.

Returns: The X axis tolerance

Definition at line 474 of file kinematic_constraint.h.

◆ getYAxisTolerance()

double kinematic_constraints::OrientationConstraint::getYAxisTolerance ( ) const

inline

Gets the Y axis tolerance.

Returns: The Y axis tolerance

Definition at line 485 of file kinematic_constraint.h.

◆ getZAxisTolerance()

double kinematic_constraints::OrientationConstraint::getZAxisTolerance ( ) const

inline

Gets the Z axis tolerance.

Returns: The Z axis tolerance

Definition at line 496 of file kinematic_constraint.h.

◆ mobileReferenceFrame()

bool kinematic_constraints::OrientationConstraint::mobileReferenceFrame ( ) const

inline

Whether or not a mobile reference frame is being employed.

Returns: True if a mobile reference frame is being employed, and otherwise false.

Definition at line 437 of file kinematic_constraint.h.

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◆ print()

void kinematic_constraints::OrientationConstraint::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 782 of file kinematic_constraint.cpp.

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Member Data Documentation

◆ absolute_x_axis_tolerance_

double kinematic_constraints::OrientationConstraint::absolute_x_axis_tolerance_

protected

Definition at line 514 of file kinematic_constraint.h.

◆ absolute_y_axis_tolerance_

double kinematic_constraints::OrientationConstraint::absolute_y_axis_tolerance_

protected

Definition at line 514 of file kinematic_constraint.h.

◆ absolute_z_axis_tolerance_

double kinematic_constraints::OrientationConstraint::absolute_z_axis_tolerance_

protected

Storage for the tolerances

Definition at line 515 of file kinematic_constraint.h.

◆ desired_R_in_frame_id_

Eigen::Matrix3d kinematic_constraints::OrientationConstraint::desired_R_in_frame_id_

protected

Desired rotation matrix in frame_id

Definition at line 508 of file kinematic_constraint.h.

◆ desired_rotation_frame_id_

std::string kinematic_constraints::OrientationConstraint::desired_rotation_frame_id_

protected

The target frame of the transform tree

Definition at line 511 of file kinematic_constraint.h.

◆ desired_rotation_matrix_

Eigen::Matrix3d kinematic_constraints::OrientationConstraint::desired_rotation_matrix_

protected

The desired rotation matrix in the tf frame

Definition at line 509 of file kinematic_constraint.h.

◆ desired_rotation_matrix_inv_

Eigen::Matrix3d kinematic_constraints::OrientationConstraint::desired_rotation_matrix_inv_

protected

The inverse of desired_rotation_matrix_ (for efficiency)

Definition at line 510 of file kinematic_constraint.h.

◆ link_model_

const moveit::core::LinkModel* kinematic_constraints::OrientationConstraint::link_model_

protected

The target link model

Definition at line 507 of file kinematic_constraint.h.

◆ mobile_frame_

bool kinematic_constraints::OrientationConstraint::mobile_frame_

protected

Whether or not the header frame is mobile or fixed

Definition at line 512 of file kinematic_constraint.h.

◆ parameterization_type_

int kinematic_constraints::OrientationConstraint::parameterization_type_

protected

Parameterization type for orientation tolerance

Definition at line 513 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

◆ OrientationConstraint()

Member Function Documentation

◆ clear()

◆ configure()

◆ decide()

◆ enabled()

◆ equal()

◆ getDesiredRotationMatrix()

◆ getDesiredRotationMatrixInRefFrame()

◆ getLinkModel()

◆ getParameterizationType()

◆ getReferenceFrame()

◆ getXAxisTolerance()

◆ getYAxisTolerance()

◆ getZAxisTolerance()

◆ mobileReferenceFrame()

◆ print()

Member Data Documentation

◆ absolute_x_axis_tolerance_

◆ absolute_y_axis_tolerance_

◆ absolute_z_axis_tolerance_

◆ desired_R_in_frame_id_

◆ desired_rotation_frame_id_

◆ desired_rotation_matrix_

◆ desired_rotation_matrix_inv_

◆ link_model_

◆ mobile_frame_

◆ parameterization_type_