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PlanarRotationConstraint Struct

Declaration​

struct pro_rrt::PlanarRotationConstraint { ... }

Included Headers​

#include <pro_rrt.hpp>

Public Member Attributes Index​

const moveit_pro::base::LinkModel *constrained_link = nullptr

The link to constrain. Must be a link of the planning group. More...

std::optional< Eigen::Isometry3d >world_pose_reference = std::nullopt
doubleangle_tolerance = 0.05

Description​

Definition of a planar rotation constraint. This is a 2 DOF constraint, used to keep the orientation of a link constrained to allow only rotations around the world vertical axis (Z).

Definition at line 166 of file pro_rrt.hpp.

Public Member Attributes​

angle_tolerance​

double pro_rrt::PlanarRotationConstraint::angle_tolerance = 0.05

The angle tolerance to use for the orientation constraint. The value is in radians, and represents the maximum allowed off-plane angle for any orientation along the path. Rotations around the world vertical axis (assumed Z) are allowed. Bounds the larger of the two off-plane components of the orientation error, not their magnitude. For tolerances well below 1 rad, the effective bound on physical off-plane tilt is therefore between roughly 0.64 and 1.41 times this value: a rotation about the vertical axis both rotates the off-plane error between the two components and scales its magnitude by (yaw/2)/sin(yaw/2), which is 1 at zero yaw and pi/2 at a yaw of pi, so the larger component ranges from 1/sqrt(2) to pi/2 times the tilt it describes. A tilt is accepted up to sqrt(2) times this value when spread evenly across both components, and rejected from about 0.64 times it when concentrated in one.

Definition at line 188 of file pro_rrt.hpp.

constrained_link​

const moveit_pro::base::LinkModel* pro_rrt::PlanarRotationConstraint::constrained_link = nullptr

The link to constrain. Must be a link of the planning group.

Definition at line 169 of file pro_rrt.hpp.

world_pose_reference​

std::optional<Eigen::Isometry3d> pro_rrt::PlanarRotationConstraint::world_pose_reference = std::nullopt

The reference pose of the link in the world frame. The orientation of the reference link at any waypoint in the resulting plan should only be a rotation around the world vertical axis of this reference orientation. This can be optionally defined when the constraint is created, otherwise it will be created based on the pose of the constrained link at the beginning of planning.

Definition at line 176 of file pro_rrt.hpp.

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

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