ompl_interface::BoxConstraint Class Reference

Box shaped position constraints. More...

#include <ompl_constraints.h>

Inheritance diagram for ompl_interface::BoxConstraint:

Collaboration diagram for ompl_interface::BoxConstraint:

Public Member Functions
	BoxConstraint (const moveit::core::RobotModelConstPtr &robot_model, const std::string &group, const unsigned int num_dofs)
void	parseConstraintMsg (const moveit_msgs::msg::Constraints &constraints) override
	Parse bounds on position parameters from MoveIt's constraint message.
Eigen::VectorXd	calcError (const Eigen::Ref< const Eigen::VectorXd > &x) const override
	For inequality constraints: calculate the value of the parameter that is being constrained by the bounds.
Eigen::MatrixXd	calcErrorJacobian (const Eigen::Ref< const Eigen::VectorXd > &x) const override
	For inequality constraints: calculate the Jacobian for the current parameters that are being constrained. This error jacobian, as the name suggests, is only the jacobian of the position / orientation / ... error. It does not take into account the derivative of the penalty functions defined in the Bounds class. This correction is added in the implementation of of BaseConstraint::jacobian.
Public Member Functions inherited from ompl_interface::BaseConstraint
	BaseConstraint (const moveit::core::RobotModelConstPtr &robot_model, const std::string &group, const unsigned int num_dofs, const unsigned int num_cons=3)
	Construct a BaseConstraint using 3 num_cons by default because all constraints currently implemented have 3 constraint equations.
void	init (const moveit_msgs::msg::Constraints &constraints)
	Initialize constraint based on message content.
void	function (const Eigen::Ref< const Eigen::VectorXd > &joint_values, Eigen::Ref< Eigen::VectorXd > out) const override
void	jacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_values, Eigen::Ref< Eigen::MatrixXd > out) const override
	Jacobian of the constraint function.
Eigen::Isometry3d	forwardKinematics (const Eigen::Ref< const Eigen::VectorXd > &joint_values) const
	Wrapper for forward kinematics calculated by MoveIt's Robot State.
Eigen::MatrixXd	robotGeometricJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_values) const
	Calculate the robot's geometric Jacobian using MoveIt's Robot State.
const std::string &	getLinkName ()
const Eigen::Vector3d	getTargetPosition ()
const Eigen::Quaterniond	getTargetOrientation ()

Additional Inherited Members
Protected Attributes inherited from ompl_interface::BaseConstraint
TSStateStorage	state_storage_
	Thread-safe storage of the robot state.
const moveit::core::JointModelGroup *	joint_model_group_
std::string	link_name_
	Robot link the constraints are applied to.
Bounds	bounds_
	Upper and lower bounds on constrained variables.
Eigen::Vector3d	target_position_
	target for equality constraints, nominal value for inequality constraints.
Eigen::Quaterniond	target_orientation_
	target for equality constraints, nominal value for inequality constraints.

Detailed Description

Box shaped position constraints.

Reads bounds on x, y and z position from a position constraint at constraint_region.primitives[0].dimensions. Where the primitive has to be of type shape_msgs/SolidPrimitive.BOX.

These bounds are applied around the nominal position and orientation of the box.

Definition at line 257 of file ompl_constraints.h.

Constructor & Destructor Documentation

BoxConstraint()

ompl_interface::BoxConstraint::BoxConstraint	(	const moveit::core::RobotModelConstPtr &	robot_model,
		const std::string &	group,
		const unsigned int	num_dofs
	)

Definition at line 198 of file ompl_constraints.cpp.

Member Function Documentation

calcError()

Eigen::VectorXd ompl_interface::BoxConstraint::calcError ( const Eigen::Ref< const Eigen::VectorXd > &  x ) const

overridevirtual

For inequality constraints: calculate the value of the parameter that is being constrained by the bounds.

In this Position constraints case, it calculates the x, y and z position of the end-effector. This error is then converted in generic equality constraints in the implementation of ompl_interface::BaseConstraint::function.

This method can be bypassed if you want to override `ompl_interfaceBaseConstraint::function directly and ignore the bounds calculation.

Reimplemented from ompl_interface::BaseConstraint.

Definition at line 221 of file ompl_constraints.cpp.

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calcErrorJacobian()

Eigen::MatrixXd ompl_interface::BoxConstraint::calcErrorJacobian ( const Eigen::Ref< const Eigen::VectorXd > &  x ) const

overridevirtual

For inequality constraints: calculate the Jacobian for the current parameters that are being constrained.

• This error jacobian, as the name suggests, is only the jacobian of the position / orientation / ... error. It does not take into account the derivative of the penalty functions defined in the Bounds class. This correction is added in the implementation of of BaseConstraint::jacobian.

This method can be bypassed if you want to override `ompl_interfaceBaseConstraint::jacobian directly and ignore the bounds calculation.

TODO(jeroendm), Maybe also use an output argument as in ompl::base::Constraint::jacobian(x, out) for better performance?

Reimplemented from ompl_interface::BaseConstraint.

Definition at line 226 of file ompl_constraints.cpp.

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parseConstraintMsg()

void ompl_interface::BoxConstraint::parseConstraintMsg ( const moveit_msgs::msg::Constraints &  constraints )

overridevirtual

Parse bounds on position parameters from MoveIt's constraint message.

This can be non-trivial given the often complex structure of these messages.

Implements ompl_interface::BaseConstraint.

Definition at line 204 of file ompl_constraints.cpp.

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The documentation for this class was generated from the following files:

• moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/ompl_constraints.h
• moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp