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Add parameterization type to orientation constraints #96

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merged 8 commits into from
Nov 19, 2020
Merged

Add parameterization type to orientation constraints #96

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fe38f75
add parameterization type to orientation constraints
JeroenDM Sep 28, 2020
c829a75
Apply suggestions from Felix
JeroenDM Nov 3, 2020
552e253
improve documentation OrientationConstraint msg
JeroenDM Nov 3, 2020
cfffda5
punctuation change + replace confusing comment
JeroenDM Nov 4, 2020
004d788
change below to above
JeroenDM Nov 16, 2020
180b316
format orientation constraint comment
JeroenDM Nov 19, 2020
490e752
Suggestion Felix comment formulation
JeroenDM Nov 19, 2020
1f4f230
Suggestion Felix, move optional to the end of the sentence
JeroenDM Nov 19, 2020
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13 changes: 12 additions & 1 deletion msg/OrientationConstraint.msg
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Expand Up @@ -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
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# - 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