#include <algorithm>#include <geometric_shapes/solid_primitive_dims.h>#include <moveit/kinematic_constraints/utils.hpp>#include <moveit/utils/message_checks.hpp>#include <rclcpp/logger.hpp>#include <rclcpp/logging.hpp>#include <rclcpp/node.hpp>#include <rclcpp/parameter_value.hpp>#include <moveit/utils/logger.hpp>#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>#include <tf2_eigen/tf2_eigen.hpp>
Include dependency graph for utils.cpp:
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Namespaces | |
| namespace | kinematic_constraints |
| Representation and evaluation of kinematic constraints. | |
Functions | |
| moveit_msgs::msg::Constraints | kinematic_constraints::mergeConstraints (const moveit_msgs::msg::Constraints &first, const moveit_msgs::msg::Constraints &second) |
| Merge two sets of constraints into one. | |
| std::size_t | kinematic_constraints::countIndividualConstraints (const moveit_msgs::msg::Constraints &constr) |
| moveit_msgs::msg::Constraints | kinematic_constraints::constructGoalConstraints (const moveit::core::RobotState &state, const moveit::core::JointModelGroup *jmg, double tolerance=std::numeric_limits< double >::epsilon()) |
| Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group. | |
| moveit_msgs::msg::Constraints | kinematic_constraints::constructGoalConstraints (const moveit::core::RobotState &state, const moveit::core::JointModelGroup *jmg, double tolerance_below, double tolerance_above) |
| Generates a constraint message intended to be used as a goal constraint for a joint group. The full constraint will contain a vector of type JointConstraint, one for each DOF in the group. | |
| bool | kinematic_constraints::updateJointConstraints (moveit_msgs::msg::Constraints &constraints, const moveit::core::RobotState &state, const moveit::core::JointModelGroup *jmg) |
| Update joint constraints with a new JointModelGroup state. | |
| moveit_msgs::msg::Constraints | kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::msg::PoseStamped &pose, double tolerance_pos=1e-3, double tolerance_angle=1e-2) |
| Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A sphere will be used to represent the constraint region for the PositionConstraint. | |
| moveit_msgs::msg::Constraints | kinematic_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) |
| Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint will contain a PositionConstraint and a OrientationConstraint, constructed from the pose. A box will be used to represent the constraint region for the PositionConstraint. | |
| bool | kinematic_constraints::updatePoseConstraint (moveit_msgs::msg::Constraints &constraints, const std::string &link_name, const geometry_msgs::msg::PoseStamped &pose) |
| Update a pose constraint for one link with a new pose. | |
| moveit_msgs::msg::Constraints | kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::msg::QuaternionStamped &quat, double tolerance=1e-2) |
| Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only an OrientationConstraint. | |
| bool | kinematic_constraints::updateOrientationConstraint (moveit_msgs::msg::Constraints &constraints, const std::string &link_name, const geometry_msgs::msg::QuaternionStamped &quat) |
| Update an orientation constraint for one link with a new quaternion. | |
| moveit_msgs::msg::Constraints | kinematic_constraints::constructGoalConstraints (const std::string &link_name, const geometry_msgs::msg::PointStamped &goal_point, double tolerance=1e-3) |
| Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region. | |
| bool | kinematic_constraints::updatePositionConstraint (moveit_msgs::msg::Constraints &constraints, const std::string &link_name, const geometry_msgs::msg::PointStamped &goal_point) |
| Update a position constraint for one link with a new position. | |
| moveit_msgs::msg::Constraints | kinematic_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) |
| Generates a constraint message intended to be used as a goal constraint for a given link. The full constraint message will contain only a PositionConstraint. A sphere will be used to represent the constraint region. | |
| bool | kinematic_constraints::constructConstraints (const rclcpp::Node::SharedPtr &node, const std::string &constraints_param, moveit_msgs::msg::Constraints &constraints) |
| extract constraint message from node parameters. | |
| bool | kinematic_constraints::resolveConstraintFrames (const moveit::core::RobotState &state, moveit_msgs::msg::Constraints &constraints) |
| Resolves frames used in constraints to links in the robot model. | |
