The MoveIt Motion Planning Framework for ROS 2.
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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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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...


 The MoveIt interface to OMPL.


 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. More...
Bounds ompl_interface::positionConstraintMsgToBoundVector (const moveit_msgs::msg::PositionConstraint &pos_con)
 Extract position constraints from the MoveIt message. More...
Bounds ompl_interface::orientationConstraintMsgToBoundVector (const moveit_msgs::msg::OrientationConstraint &ori_con)
 Extract orientation constraints from the MoveIt message. More...
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. More...
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: Eq. 2.107. More...