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tool to generate constraint approximation databases #1253

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Dec 21, 2018
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1 change: 1 addition & 0 deletions moveit_core/CMakeLists.txt
Original file line number Diff line number Diff line change
Expand Up @@ -54,6 +54,7 @@ COMPONENTS
std_msgs
trajectory_msgs
visualization_msgs
xmlrpcpp
)

set(VERSION_FILE_PATH "${CATKIN_DEVEL_PREFIX}/include")
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,11 @@
#include <moveit/robot_state/robot_state.h>
#include <limits>

namespace XmlRpc
{
class XmlRpcValue;
}

namespace kinematic_constraints
{
/**
Expand Down Expand Up @@ -183,6 +188,19 @@ moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
moveit_msgs::Constraints constructGoalConstraints(const std::string& link_name,
const geometry_msgs::PointStamped& goal_point,
double tolerance = 1e-3);

/**
* \brief extract constraint message from XmlRpc node.
*
* This can be used to construct a Constraints message from
* specifications uploaded on the parameter server.
*
* @param [in] params XmlRpc node of the parameter specification
* @param [out] constraints The constructed constraints message
*
* @return was the construction successful?
*/
bool constructConstraints(XmlRpc::XmlRpcValue& params, moveit_msgs::Constraints& constraints);
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}

#endif
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