Class for constraints on the XYZ position of a link. More...

#include <kinematic_constraint.h>

Inheritance diagram for kinematic_constraints::PositionConstraint:

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

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

bool	equal (const KinematicConstraint &other, double margin) const override
	Check if two constraints are the same. For position constraints this means that:

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
	Returns the associated link model, or nullptr if not enabled.

const Eigen::Vector3d &	getLinkOffset () const
	Returns the target offset.

bool	hasLinkOffset () const
	If the constraint is enabled and the link offset is substantially different than zero.

const std::vector< bodies::BodyPtr > &	getConstraintRegions () const
	Returns all the constraint regions.

const std::string &	getReferenceFrame () const
	Returns the reference frame.

bool	mobileReferenceFrame () const
	If enabled and the specified frame is a mobile frame, return true. Otherwise, returns false.

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
Eigen::Vector3d	offset_
	The target offset.

bool	has_offset_
	Whether the offset is substantially different than 0.0.

std::vector< bodies::BodyPtr >	constraint_region_
	The constraint region vector.

EigenSTL::vector_Isometry3d	constraint_region_pose_
	The constraint region pose vector. All isometries are guaranteed to be valid.

bool	mobile_frame_
	Whether or not a mobile frame is employed.

std::string	constraint_frame_id_
	The constraint frame id.

const moveit::core::LinkModel *	link_model_
	The link model constraint subject.

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 XYZ position of a link.

This class expresses X,Y,Z position constraints of a link. The position area is specified as a bounding volume consisting of one or more shapes - either solid primitives or meshes. The pose information in the volumes will be interpreted by using the header information. The header may either specify a fixed frame or a mobile frame. Additionally, a target offset specified in the frame of the link being constrained can be specified. The type value will return POSITION_CONSTRAINT.

Definition at line 533 of file kinematic_constraint.h.

Constructor & Destructor Documentation

◆ PositionConstraint()

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

inline

Constructor.

Parameters

[in] model The kinematic model used for constraint evaluation

Definition at line 544 of file kinematic_constraint.h.

Member Function Documentation

◆ clear()

void kinematic_constraints::PositionConstraint::clear ( )

overridevirtual

Clear the stored constraint.

Implements kinematic_constraints::KinematicConstraint.

Definition at line 578 of file kinematic_constraint.cpp.

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◆ configure()

bool kinematic_constraints::PositionConstraint::configure	(	const moveit_msgs::msg::PositionConstraint &	pc,
		const moveit::core::Transforms &	tf
	)

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

For the configure command to be successful, the link must be specified in the model, and one or more constrained regions must be correctly specified, which requires containing a valid shape and a pose for that shape. If the header frame on the constraint is empty, the constraint will fail to configure. If an invalid quaternion is passed for a shape, the identity quaternion will be substituted.

Parameters

[in] pc moveit_msgs::msg::PositionConstraint for configuration

Returns: True if constraint can be configured from pc

Definition at line 360 of file kinematic_constraint.cpp.

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◆ decide()

ConstraintEvaluationResult kinematic_constraints::PositionConstraint::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 522 of file kinematic_constraint.cpp.

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◆ enabled()

bool kinematic_constraints::PositionConstraint::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 589 of file kinematic_constraint.cpp.

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◆ equal()

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

overridevirtual

Check if two constraints are the same. For position constraints this means that:

The types are the same
The link model is the same
The frame of the constraints are the same
The target offsets are no more than the margin apart
Each entry in the constraint region of this constraint matches a region in the other constraint
Each entry in the other constraint region matches a region in the other constraint

Two constraint regions matching each other means that:

The poses match within the margin
The types are the same
The shape volumes are within the margin

Note that the two shapes can have different numbers of regions as long as all regions are matched up to another.

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 462 of file kinematic_constraint.cpp.

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◆ getConstraintRegions()

const std::vector< bodies::BodyPtr > & kinematic_constraints::PositionConstraint::getConstraintRegions ( ) const

inline

Returns all the constraint regions.

Returns: The constraint regions

Definition at line 639 of file kinematic_constraint.h.

◆ getLinkModel()

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

inline

Returns the associated link model, or nullptr if not enabled.

Returns: The link model

Definition at line 603 of file kinematic_constraint.h.

◆ getLinkOffset()

const Eigen::Vector3d & kinematic_constraints::PositionConstraint::getLinkOffset ( ) const

inline

Returns the target offset.

Returns: The target offset

Definition at line 614 of file kinematic_constraint.h.

◆ getReferenceFrame()

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

inline

Returns the reference frame.

Returns: The reference frame

Definition at line 650 of file kinematic_constraint.h.

◆ hasLinkOffset()

bool kinematic_constraints::PositionConstraint::hasLinkOffset ( ) const

inline

If the constraint is enabled and the link offset is substantially different than zero.

Returns: Whether or not there is a link offset

Definition at line 626 of file kinematic_constraint.h.

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◆ mobileReferenceFrame()

bool kinematic_constraints::PositionConstraint::mobileReferenceFrame ( ) const

inline

If enabled and the specified frame is a mobile frame, return true. Otherwise, returns false.

Returns: Whether a mobile reference frame is being employed

Definition at line 662 of file kinematic_constraint.h.

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◆ print()

void kinematic_constraints::PositionConstraint::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 566 of file kinematic_constraint.cpp.

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Member Data Documentation

◆ constraint_frame_id_

std::string kinematic_constraints::PositionConstraint::constraint_frame_id_

protected

The constraint frame id.

Definition at line 676 of file kinematic_constraint.h.

◆ constraint_region_

std::vector<bodies::BodyPtr> kinematic_constraints::PositionConstraint::constraint_region_

protected

The constraint region vector.

Definition at line 672 of file kinematic_constraint.h.

◆ constraint_region_pose_

EigenSTL::vector_Isometry3d kinematic_constraints::PositionConstraint::constraint_region_pose_

protected

The constraint region pose vector. All isometries are guaranteed to be valid.

Definition at line 674 of file kinematic_constraint.h.

◆ has_offset_

bool kinematic_constraints::PositionConstraint::has_offset_

protected

Whether the offset is substantially different than 0.0.

Definition at line 671 of file kinematic_constraint.h.

◆ link_model_

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

protected

The link model constraint subject.

Definition at line 677 of file kinematic_constraint.h.

◆ mobile_frame_

bool kinematic_constraints::PositionConstraint::mobile_frame_

protected

Whether or not a mobile frame is employed.

Definition at line 675 of file kinematic_constraint.h.

◆ offset_

Eigen::Vector3d kinematic_constraints::PositionConstraint::offset_

protected

The target offset.

Definition at line 670 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

◆ PositionConstraint()

Member Function Documentation

◆ clear()

◆ configure()

◆ decide()

◆ enabled()

◆ equal()

◆ getConstraintRegions()

◆ getLinkModel()

◆ getLinkOffset()

◆ getReferenceFrame()

◆ hasLinkOffset()

◆ mobileReferenceFrame()

◆ print()

Member Data Documentation

◆ constraint_frame_id_

◆ constraint_region_

◆ constraint_region_pose_

◆ has_offset_

◆ link_model_

◆ mobile_frame_

◆ offset_