utils.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit_msgs/msg/constraints.hpp>
#include <geometry_msgs/msg/point_stamped.hpp>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/quaternion_stamped.hpp>
#include <moveit/robot_state/robot_state.h>
#include <limits>
 
namespace XmlRpc
{
class XmlRpcValue;
}
 
namespace kinematic_constraints
{
moveit_msgs::msg::Constraints mergeConstraints(const moveit_msgs::msg::Constraints& first,
                                               const moveit_msgs::msg::Constraints& second);
 
std::size_t countIndividualConstraints(const moveit_msgs::msg::Constraints& constr);
 
moveit_msgs::msg::Constraints constructGoalConstraints(const moveit::core::RobotState& state,
                                                       const moveit::core::JointModelGroup* jmg, double tolerance_below,
                                                       double tolerance_above);
 
moveit_msgs::msg::Constraints constructGoalConstraints(const moveit::core::RobotState& state,
                                                       const moveit::core::JointModelGroup* jmg,
                                                       double tolerance = std::numeric_limits<double>::epsilon());
 
bool updateJointConstraints(moveit_msgs::msg::Constraints& constraints, const moveit::core::RobotState& state,
                            const moveit::core::JointModelGroup* jmg);
 
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name,
                                                       const geometry_msgs::msg::PoseStamped& pose,
                                                       double tolerance_pos = 1e-3, double tolerance_angle = 1e-2);
 
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name,
                                                       const geometry_msgs::msg::PoseStamped& pose,
                                                       const std::vector<double>& tolerance_pos,
                                                       const std::vector<double>& tolerance_angle);
 
bool updatePoseConstraint(moveit_msgs::msg::Constraints& constraints, const std::string& link_name,
                          const geometry_msgs::msg::PoseStamped& pose);
 
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name,
                                                       const geometry_msgs::msg::QuaternionStamped& quat,
                                                       double tolerance = 1e-2);
 
bool updateOrientationConstraint(moveit_msgs::msg::Constraints& constraints, const std::string& link_name,
                                 const geometry_msgs::msg::QuaternionStamped& quat);
 
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name,
                                                       const geometry_msgs::msg::Point& reference_point,
                                                       const geometry_msgs::msg::PointStamped& goal_point,
                                                       double tolerance = 1e-3);
 
moveit_msgs::msg::Constraints constructGoalConstraints(const std::string& link_name,
                                                       const geometry_msgs::msg::PointStamped& goal_point,
                                                       double tolerance = 1e-3);
 
bool updatePositionConstraint(moveit_msgs::msg::Constraints& constraints, const std::string& link_name,
                              const geometry_msgs::msg::PointStamped& goal_point);
 
bool constructConstraints(const rclcpp::Node::SharedPtr& node, const std::string& constraints_param,
                          moveit_msgs::msg::Constraints& constraints);
 
bool resolveConstraintFrames(const moveit::core::RobotState& state, moveit_msgs::msg::Constraints& constraints);
}  // namespace kinematic_constraints