constraint_samplers::IKSamplingPose Struct Reference

A structure for potentially holding a position constraint and an orientation constraint for use during Ik Sampling. More...

#include <default_constraint_samplers.h>

Public Member Functions
	IKSamplingPose ()
	Empty constructor.
	IKSamplingPose (const kinematic_constraints::PositionConstraint &pc)
	Constructor that takes a single pose constraint, doing a copy.
	IKSamplingPose (const kinematic_constraints::OrientationConstraint &oc)
	Constructor that takes a single orientation constraint, doing a copy.
	IKSamplingPose (const kinematic_constraints::PositionConstraint &pc, const kinematic_constraints::OrientationConstraint &oc)
	Constructor that takes both a position and an orientation constraint, copying both into the internal variables.
	IKSamplingPose (const kinematic_constraints::PositionConstraintPtr &pc)
	Constructor that takes a pointer to a position constraint.
	IKSamplingPose (const kinematic_constraints::OrientationConstraintPtr &oc)
	Constructor that takes a pointer to a orientation constraint.
	IKSamplingPose (const kinematic_constraints::PositionConstraintPtr &pc, const kinematic_constraints::OrientationConstraintPtr &oc)
	Constructor that takes a pointer to both position and orientation constraints.

Public Attributes
kinematic_constraints::PositionConstraintPtr	position_constraint_
	Holds the position constraint for sampling.
kinematic_constraints::OrientationConstraintPtr	orientation_constraint_
	Holds the orientation constraint for sampling.

Detailed Description

A structure for potentially holding a position constraint and an orientation constraint for use during Ik Sampling.

Definition at line 229 of file default_constraint_samplers.h.

Constructor & Destructor Documentation

IKSamplingPose() [1/7]

constraint_samplers::IKSamplingPose::IKSamplingPose

(

)

Empty constructor.

Returns

Definition at line 208 of file default_constraint_samplers.cpp.

IKSamplingPose() [2/7]

constraint_samplers::IKSamplingPose::IKSamplingPose

(

const kinematic_constraints::PositionConstraint &

pc

)

Constructor that takes a single pose constraint, doing a copy.

Parameters

pc	The pose constraint that will be copied into the internal variable

Definition at line 212 of file default_constraint_samplers.cpp.

IKSamplingPose() [3/7]

constraint_samplers::IKSamplingPose::IKSamplingPose

(

const kinematic_constraints::OrientationConstraint &

oc

)

Constructor that takes a single orientation constraint, doing a copy.

Parameters

oc	The orientation constraint that will be copied into the internal variable

Returns

Definition at line 217 of file default_constraint_samplers.cpp.

IKSamplingPose() [4/7]

constraint_samplers::IKSamplingPose::IKSamplingPose	(	const kinematic_constraints::PositionConstraint &	pc,
		const kinematic_constraints::OrientationConstraint &	oc
	)

Constructor that takes both a position and an orientation constraint, copying both into the internal variables.

Parameters

pc	The pose constraint that will be copied into the internal variable
oc	The orientation constraint that will be copied into the internal variable

Returns

Definition at line 222 of file default_constraint_samplers.cpp.

IKSamplingPose() [5/7]

constraint_samplers::IKSamplingPose::IKSamplingPose

(

const kinematic_constraints::PositionConstraintPtr &

pc

)

Constructor that takes a pointer to a position constraint.

Parameters

pc	Pointer for copying into internal variable

Returns

Definition at line 229 of file default_constraint_samplers.cpp.

IKSamplingPose() [6/7]

constraint_samplers::IKSamplingPose::IKSamplingPose

(

const kinematic_constraints::OrientationConstraintPtr &

oc

)

Constructor that takes a pointer to a orientation constraint.

Parameters

oc	Pointer for copying into internal variable

Returns

Definition at line 233 of file default_constraint_samplers.cpp.

IKSamplingPose() [7/7]

constraint_samplers::IKSamplingPose::IKSamplingPose	(	const kinematic_constraints::PositionConstraintPtr &	pc,
		const kinematic_constraints::OrientationConstraintPtr &	oc
	)

Constructor that takes a pointer to both position and orientation constraints.

Parameters

pc	Pointer for copying into internal variables
oc	Pointer for copying into internal variable

Returns

Definition at line 237 of file default_constraint_samplers.cpp.

Member Data Documentation

orientation_constraint_

kinematic_constraints::OrientationConstraintPtr constraint_samplers::IKSamplingPose::orientation_constraint_

Holds the orientation constraint for sampling.

Definition at line 299 of file default_constraint_samplers.h.

position_constraint_

kinematic_constraints::PositionConstraintPtr constraint_samplers::IKSamplingPose::position_constraint_

Holds the position constraint for sampling.

Definition at line 296 of file default_constraint_samplers.h.

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The documentation for this struct was generated from the following files:

• moveit_core/constraint_samplers/include/moveit/constraint_samplers/default_constraint_samplers.h
• moveit_core/constraint_samplers/src/default_constraint_samplers.cpp