planning_scene_tutorial.cpp

planning_scene_tutorial.cpp 

#include 

// MoveIt!
#include 
#include 

#include 

// 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 robo