Added joint constraint to goal regions #259
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| @@ -37,6 +37,7 @@ core | |||
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| # Compile Commands | |||
| *compile_commands.json | |||
| .cache/ | |||
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Added this for CCLS compilation databases
| * \param[in] distance The distance from the cylinder to place the regions. | ||
| * \param[in] depth The depth of boxes to create. | ||
| * \param[in] n The number of regions to create. | ||
| /** \brief Adds a set of regions to grasp a cylinder from the side. This function assumes the |
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These diffs are from my clang formatter. I'm using the lab clang-format file, it just didn't like the long lines.
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As long as it passes the check it's fine.
| * \param[in] position The joint value to constrain to. | ||
| * \param[in] tolerances A 2D vector of the upper bound and lower bound from \a position. | ||
| */ | ||
| void addJointConstraintToGoal(int goal_idx, const std::string &joint_name, float position, |
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Use std::size_t for all counting variables, and use double for all numbers.
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I'd also move the goal index to the last argument and make it optional, defaulting to 0 for ease of use. Similarly, I'd add a default value to the tolerances of +/- epsilon.
| * \param[in] goal_idx The index of the goal region to add this joint constraint to. | ||
| * \param[in] joint_constraint The MoveIt! joint constraint to add. | ||
| */ | ||
| void addJointConstraintToGoal(int goal_idx, moveit_msgs::JointConstraint joint_constraint); |
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Should the message be const &?
| * \param[in] distance The distance from the cylinder to place the regions. | ||
| * \param[in] depth The depth of boxes to create. | ||
| * \param[in] n The number of regions to create. | ||
| /** \brief Adds a set of regions to grasp a cylinder from the side. This function assumes the |
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As long as it passes the check it's fine.
| * \param[in] tolerances A vector of upper bound and lower bound offsets from position. | ||
| * \return The joint constraint as a MoveIt message. | ||
| */ | ||
| moveit_msgs::JointConstraint getJointConstraint(const std::string &joint_name, float position, |
Added methods to add joint constraints to a goal region for a MotionRequestBuilder.