ompl_interface::OrientationConstraint Class Reference

Orientation constraints parameterized using exponential coordinates. More...

#include <ompl_constraints.hpp>

Inheritance diagram for ompl_interface::OrientationConstraint:

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Public Member Functions
	OrientationConstraint (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 orientation parameters from MoveIt's constraint message.
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
Public Attributes inherited from ompl_interface::BaseConstraint
	const
	For inequality constraints: calculate the value of the parameter that is being constrained by the bounds.
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

Orientation constraints parameterized using exponential coordinates.

An orientation constraint is modeled as a deviation from a target orientation. The deviation is represented using exponential coordinates. A three element vector represents the rotation axis multiplied with the angle in radians around this axis.

R_error = R_end_effector ^ (-1) * R_target R_error -> rotation angle and axis (using Eigen3) error = angle * axis (vector with three elements)

And then the constraints can be written as

• absolute_x_axis_tolerance < error[0] < absolute_x_axis_tolerance
• absolute_y_axis_tolerance < error[1] < absolute_y_axis_tolerance
• absolute_z_axis_tolerance < error[2] < absolute_z_axis_tolerance

IMPORTANT It is NOT how orientation error is handled in the default MoveIt constraint samplers, where XYZ intrinsic euler angles are used. Using exponential coordinates is analog to how orientation error is calculated in the TrajOpt motion planner.

Definition at line 377 of file ompl_constraints.hpp.

Constructor & Destructor Documentation

OrientationConstraint()

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

inline

Definition at line 380 of file ompl_constraints.hpp.

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Member Function Documentation

parseConstraintMsg()

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

overridevirtual

Parse bounds on orientation 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 310 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.hpp
• moveit_planners/ompl/ompl_interface/src/detail/ompl_constraints.cpp