Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Add ability to specify path constraints #4

Open
egordon opened this issue May 17, 2023 · 1 comment
Open

Add ability to specify path constraints #4

egordon opened this issue May 17, 2023 · 1 comment
Labels
enhancement New feature or request

Comments

@egordon
Copy link

egordon commented May 17, 2023 •
edited
Loading

Currently only goal constraints are considered.

Add set_path_constraint(Constraints).

Just expose the raw MoveIt2 constraint API for now. We can add helper functions later.

This allows for:

  • Orientation Constraints: e.g. keep a robot link withing X degrees of level
  • Position Constraints: keep a robot link within a bounded area
  • Joint Constraints: e.g. prevent the planner from considering certain joint values
  • Visibility Constraints: keep a link within the view frustrum of a sensor location
@egordon egordon added the enhancement New feature or request label May 17, 2023
@egordon
Copy link
Author

egordon commented Jul 7, 2023

Solved in egordon/path

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
enhancement New feature or request
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@egordon