[Personalrobots-commit] SF.net SVN: personalrobots:[10089] pkg/trunk

[<is...@us...>]

Revision: 10089
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=10089&view=rev
Author:   isucan
Date:     2009-01-23 22:54:25 +0000 (Fri, 23 Jan 2009)

Log Message:
-----------
more flexibility in specifying constraints

Modified Paths:
--------------
    pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPBasicRequestLinkPosition.h
    pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPConstraintEvaluator.h
    pkg/trunk/prcore/robot_msgs/msg/PoseConstraint.msg

Modified: pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPBasicRequestLinkPosition.h
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPBasicRequestLinkPosition.h	2009-01-23 22:48:37 UTC (rev 10088)
+++ pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPBasicRequestLinkPosition.h	2009-01-23 22:54:25 UTC (rev 10089)
@@ -104,7 +104,7 @@
 		m_pce[i]->evaluate(&dPos, &dAng);
 		if (decision)
 		    (*decision)[i] = m_pce[i]->decide(dPos, dAng);
-		distance += dPos + dAng;
+		distance += dPos + m_pce[i]->getConstraintMessage().orientation_importance * dAng;
 	    }
 	    
 	    return distance;

Modified: pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPConstraintEvaluator.h
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPConstraintEvaluator.h	2009-01-23 22:48:37 UTC (rev 10088)
+++ pkg/trunk/motion_planning/kinematic_planning/include/kinematic_planning/RKPConstraintEvaluator.h	2009-01-23 22:54:25 UTC (rev 10089)
@@ -165,6 +165,11 @@
 	    return result;
 	}
 	
+	const robot_msgs::PoseConstraint& getConstraintMessage(void) const
+	{
+	    return m_pc;
+	}
+	
 	virtual void print(std::ostream &out = std::cout) const
 	{
 	    if (m_link)

Modified: pkg/trunk/prcore/robot_msgs/msg/PoseConstraint.msg
===================================================================
--- pkg/trunk/prcore/robot_msgs/msg/PoseConstraint.msg	2009-01-23 22:48:37 UTC (rev 10088)
+++ pkg/trunk/prcore/robot_msgs/msg/PoseConstraint.msg	2009-01-23 22:54:25 UTC (rev 10089)
@@ -12,10 +12,15 @@
 string robot_link
 
 # The desired pose of the robot link
-std_msgs/Pose3D pose
+std_msgs/Pose pose
 
 # the allowed difference (square of euclidian distance) for position
 float64 position_distance
 
 # the allowed difference (shortest angular distance) for orientation
 float64 orientation_distance
+
+# a factor that gets multiplied to the orientation when computing the
+# distance to the goal.
+# Distance_to_goal = position_distance + orientation_importance * orientation_distance
+float64 orientation_importance


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