Groovy/Constraints

The MoveIt! constraint components are designed to allow easy specification of kinematic constraints and use of the constraints in the motion planners and for kinematics.

Documentation


 * C++ API - Learn how to specify the kinematic constraints in C++ code.
 * ROS API - Learn how to specify the kinematic constraints in ROS code.
 * Associated Code, Packages - The packages and code that are core to this capability.