planning_scene_tutorial.cpp

planning_scene_tutorial.cpp 

#include <ros/ros.h>

// MoveIt!
#include <moveit/robot_model_loader/robot_model_loader.h>
#include <moveit/planning_scene/planning_scene.h>

#include <moveit/kinematic_constraints/utils.h>

// BEGIN_SUB_TUTORIAL stateFeasibilityTestExample
//
// User defined constraints can also be specified to the PlanningScene
// class. This is done by specifying a callback using the
// setStateFeasibilityPredicate function. Here's a simple example of a
// user-defined callback that checks whether the "panda_joint1" of
// the Panda robot is at a positive or negative angle:
bool stateFeasibilityTestExample(const robot_state::RobotState& kinematic_state, bool verbose)
{
  c