Planning Constraints from MoveIt Request #62
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added 5 commits
October 13, 2017 10:11
…ints and does not immediately install them
…s from ROS params and loading extra constraints via user request constraints.
… in the goal and no pose constraints are loaded via defaults.
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Thanks for the contribution, it's not clear to me why the build fails. |
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It appears to build, but the unit tests are failing: Specifically, the |
jrgnicho
reviewed
Sep 10, 2018
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There are a few TODOs here and there,
@Jmeyer1292 were you planning to make any further changes here?
| @@ -56,6 +56,11 @@ class GoalOrientation : public Constraint | |||
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| GoalOrientation(); | |||
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| virtual unsigned constraintType() const | |||
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I'd prefer to drop the virtual and use override instead.
| // Constraint additions | ||
| std::vector<std::pair<bool, Constraint*> > resolveConstraints() const; | ||
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| Constraint* createConstraint(const moveit_msgs::PositionConstraint& pos_constraint) const; |
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Would it not be safer (memory-wise) to return smart pointers?
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This PR needs some documentation work.
The general idea is that we load constraint plugins from the YAML file and store them as
default_constraints. Added to the base class is an integer field flag list that indicates if the given plugin constraints position or orientation.If the user specifies goal constraints that also constraint position or orientation, those are used IN PLACE of the defaults.