Equality constraints on a link's position. More...
#include <ompl_constraints.h>
Inheritance diagram for ompl_interface::EqualityPositionConstraint:
Collaboration diagram for ompl_interface::EqualityPositionConstraint:
Public Member Functions | |
| EqualityPositionConstraint (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. More... | |
| 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 |
 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. More... | |
| void | init (const moveit_msgs::msg::Constraints &constraints) |
| Initialize constraint based on message content. More... | |
| 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. More... | |
| Eigen::Isometry3d | forwardKinematics (const Eigen::Ref< const Eigen::VectorXd > &joint_values) const |
| Wrapper for forward kinematics calculated by MoveIt's Robot State. More... | |
| Eigen::MatrixXd | robotGeometricJacobian (const Eigen::Ref< const Eigen::VectorXd > &joint_values) const |
| Calculate the robot's geometric Jacobian using MoveIt's Robot State. More... | |
| virtual Eigen::VectorXd | calcError (const Eigen::Ref< const Eigen::VectorXd > &) const |
| For inequality constraints: calculate the value of the parameter that is being constrained by the bounds. More... | |
| virtual Eigen::MatrixXd | calcErrorJacobian (const Eigen::Ref< const Eigen::VectorXd > &) const |
For inequality constraints: calculate the Jacobian for the current parameters that are being constrained.
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| 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. More... | |
| const moveit::core::JointModelGroup * | joint_model_group_ |
| std::string | link_name_ |
| Robot link the constraints are applied to. More... | |
| Bounds | bounds_ |
| Upper and lower bounds on constrained variables. More... | |
| Eigen::Vector3d | target_position_ |
| target for equality constraints, nominal value for inequality constraints. More... | |
| Eigen::Quaterniond | target_orientation_ |
| target for equality constraints, nominal value for inequality constraints. More... | |
Detailed Description
Equality constraints on a link's position.
When you set the name of a constraint to 'use_equality_constraints', all constraints with a dimension lower than EQUALITY_CONSTRAINT_THRESHOLD will be modelled as equality constraints.
The dimension value for the others are ignored. For example, a box with dimensions [1.0, 1e-5, 1.0] will result in equality constraints on the y-position, and no constraints on the x or z-position.
TODO(jeroendm) We could make this a base class EqualityConstraints with a specialization for position and orientation constraints in the future. But the direct overriding of function and jacobian is probably more performant.
Definition at line 309 of file ompl_constraints.h.
Constructor & Destructor Documentation
◆ EqualityPositionConstraint()
| ompl_interface::EqualityPositionConstraint::EqualityPositionConstraint | ( | const moveit::core::RobotModelConstPtr & | robot_model, |
| const std::string & | group, | ||
| const unsigned int | num_dofs | ||
| ) |
Definition at line 234 of file ompl_constraints.cpp.
Member Function Documentation
◆ function()
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override |
◆ jacobian()
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override |
◆ parseConstraintMsg()
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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 240 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
