ompl_constraints.h File Reference

#include <ostream>
#include <ompl/base/Constraint.h>
#include <moveit/ompl_interface/detail/threadsafe_state_storage.h>
#include <moveit/robot_model/robot_model.h>
#include <moveit/macros/class_forward.h>
#include <moveit_msgs/msg/constraints.hpp>

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Classes
class	ompl_interface::Bounds
	Represents upper and lower bound on the elements of a vector. More...
class	ompl_interface::BaseConstraint
	Abstract base class for different types of constraints, implementations of ompl::base::Constraint. More...
class	ompl_interface::BoxConstraint
	Box shaped position constraints. More...
class	ompl_interface::EqualityPositionConstraint
	Equality constraints on a link's position. More...
class	ompl_interface::OrientationConstraint
	Orientation constraints parameterized using exponential coordinates. More...

Namespaces
namespace	ompl_interface
	The MoveIt interface to OMPL.

Functions
	ompl_interface::MOVEIT_CLASS_FORWARD (BaseConstraint)
	ompl_interface::MOVEIT_CLASS_FORWARD (BoxConstraint)
	ompl_interface::MOVEIT_CLASS_FORWARD (OrientationConstraint)
std::ostream &	ompl_interface::operator<< (std::ostream &os, const ompl_interface::Bounds &bounds)
	Pretty printing of bounds.
Bounds	ompl_interface::positionConstraintMsgToBoundVector (const moveit_msgs::msg::PositionConstraint &pos_con)
	Extract position constraints from the MoveIt message.
Bounds	ompl_interface::orientationConstraintMsgToBoundVector (const moveit_msgs::msg::OrientationConstraint &ori_con)
	Extract orientation constraints from the MoveIt message.
ompl::base::ConstraintPtr	ompl_interface::createOMPLConstraints (const moveit::core::RobotModelConstPtr &robot_model, const std::string &group, const moveit_msgs::msg::Constraints &constraints)
	Factory to create constraints based on what is in the MoveIt constraint message.
Eigen::Matrix3d	ompl_interface::angularVelocityToAngleAxis (double angle, const Eigen::Ref< const Eigen::Vector3d > &axis)
	Return a matrix to convert angular velocity to angle-axis velocity Based on: https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/documents/RobotDynamics2016/RD2016script.pdf Eq. 2.107.