moveit2
The MoveIt Motion Planning Framework for ROS 2.
Functions
moveit_py::bind_kinematic_constraints Namespace Reference

Functions

moveit_msgs::msg::Constraints constructLinkConstraint (const std::string &link_name, const std::string &source_frame, std::optional< std::vector< double >> cartesian_position, std::optional< double > cartesian_position_tolerance, std::optional< std::vector< double >> orientation, std::optional< double > orientation_tolerance)
 
moveit_msgs::msg::Constraints constructJointConstraint (moveit::core::RobotState &robot_state, moveit::core::JointModelGroup *joint_model_group, double tolerance)
 
moveit_msgs::msg::Constraints constructConstraintsFromNode (const std::shared_ptr< rclcpp::Node > &node_name, const std::string &ns)
 
void initKinematicConstraints (py::module &m)
 

Function Documentation

◆ constructConstraintsFromNode()

moveit_msgs::msg::Constraints moveit_py::bind_kinematic_constraints::constructConstraintsFromNode ( const std::shared_ptr< rclcpp::Node > &  node_name,
const std::string &  ns 
)

Definition at line 133 of file utils.cpp.

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◆ constructJointConstraint()

moveit_msgs::msg::Constraints moveit_py::bind_kinematic_constraints::constructJointConstraint ( moveit::core::RobotState robot_state,
moveit::core::JointModelGroup joint_model_group,
double  tolerance 
)

Definition at line 122 of file utils.cpp.

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◆ constructLinkConstraint()

moveit_msgs::msg::Constraints moveit_py::bind_kinematic_constraints::constructLinkConstraint ( const std::string &  link_name,
const std::string &  source_frame,
std::optional< std::vector< double >>  cartesian_position,
std::optional< double >  cartesian_position_tolerance,
std::optional< std::vector< double >>  orientation,
std::optional< double >  orientation_tolerance 
)

Definition at line 46 of file utils.cpp.

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◆ initKinematicConstraints()

void moveit_py::bind_kinematic_constraints::initKinematicConstraints ( py::module &  m)

Definition at line 143 of file utils.cpp.

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