Add parameterization type to orientation constraints (#96)

* add parameterization type to orientation constraints * Apply suggestions from Felix Co-authored-by: Felix von Drigalski <[email protected]> * improve documentation OrientationConstraint msg * punctuation change + replace confusing comment * change below to above * format orientation constraint comment * Suggestion Felix comment formulation Co-authored-by: Felix von Drigalski <[email protected]> * Suggestion Felix, move optional to the end of the sentence Co-authored-by: Felix von Drigalski <[email protected]> Co-authored-by: Felix von Drigalski <[email protected]>
moveit · Nov 19, 2020 · 1d6168c · 1d6168c
1 parent 3175099
commit 1d6168c
Showing 1 changed file with 12 additions and 1 deletion.
diff --git a/msg/OrientationConstraint.msg b/msg/OrientationConstraint.msg
@@ -8,10 +8,21 @@ geometry_msgs/Quaternion orientation
 # The robot link this constraint refers to
 string link_name
 
-# optional axis-angle error tolerances specified
+# Tolerance on the three vector components of the orientation error (optional)
 float64 absolute_x_axis_tolerance
 float64 absolute_y_axis_tolerance
 float64 absolute_z_axis_tolerance
 
+# Defines how the orientation error is calculated
+# The error is compared to the tolerance defined above
+uint8 parameterization
+
+# The different options for the orientation error parameterization
+# - Intrinsic xyz Euler angles (default value)
+uint8 XYZ_EULER_ANGLES=0
+# - A rotation vector. This is similar to the angle-axis representation,
+# but the magnitude of the vector represents the rotation angle.
+uint8 ROTATION_VECTOR=1
+
 # A weighting factor for this constraint (denotes relative importance to other constraints. Closer to zero means less important)
 float64 weight