Extend constraint manifold tutorial with definition format

doc/planning_with_approximated_constraint_manifolds/planning_with_approximated_constraint_manifolds_tutorial.rst

@@ -16,7 +16,117 @@ For more information on how to plan with path constraints in general, take a loo
 Creating the Constraint Database
 --------------------------------
 
-A sample implementation on how to construct an approximation database from a constraint can be found inside ``demo_construct_state_database.cpp``.
+Constructing a Constraints database is done with the ``generate_state_database`` executable. 
+This loads the constraint definition (in a format explained below) from the ROS parameter server and outputs the state database to a given directory.
+
+Defining constraints
+^^^^^^^^^^^^^^^^^^^^
+
+The ``generate_state_database`` executable reads constraints from ROS parameters on ``/constraints``, in a more compact format that a complete ROS message. 
+You can define these in ``rosparam`` to be loaded together in a file, eg. ``X_moveit_config/config/constraints.yaml``::
+
+ path_constraint:
+   name: some_constraints
+   constraints:
+   - type: orientation
+     frame_id: world
+     # etc, as described below
+
+JointConstraint
+"""""""""""""""
+
+A ``JointConstraint`` limits the positions a joint can take. There are three ways to compactly specify this. 
+
+1. position + a single tolerance
+2. position + lower an upper tolerance
+3. upper and lower bound
+
+For example::
+
+ - type: joint
+   joint_name: first_joint
+   position: 0.1
+   tolerance: 0.2
+   weight: 1.0
+ - type: joint
+   joint_name: second_joint
+   position: 0.1
+   tolerances: [0.1, 0.2]
+   weight: 1.0
+ - type: joint
+   joint_name: third_joint
+   bounds: [-0.5, 1.0]
+   weight: 1.0
+
+PositionConstraint
+""""""""""""""""""
+
+A ``PositionConstraint`` constraints the Cartesian positions allowed for a (position relative to a) link. 
+``target_offset`` is that relative position w.r.t. a link, e.g., the tip of the end-effector relative to its mounting point or other origin definition.
+This region (boxes only in this compact definition) is compactly defined by specifying the upper and lower bounds along each axis. 
+
+For example::
+
+ - type: position
+   frame_id: base_link
+   link_name: gripper_link
+   target_offset: [0.01, 0.01, 0.01]
+   region:
+     x: [0, 1.0] # [start, end]
+     y: [0, 1.0] # [start, end]
+     z: [0, 1.0] # [start, end]
+   weight: 1.0
+
+OrientationConstraint
+"""""""""""""""""""""
+
+
+An ``OrientationConstraint`` can be used to keep eg. something upright (or mostly upright with respect to some tolerance).
+
+It is compactly represented with a list of roll, pitch, yaw and a list of tolerances for each axis, for example::
+
+ - type: orientation
+   frame_id: base_link
+   link_name: gripper_link
+   orientation: [-3.1415269, -1.57079632, 0] #RPY
+   tolerances: [6.28318531, 0.2, 6.28318531]
+   weight: 1.0
+
+VisibilityConstraint
+""""""""""""""""""""
+
+A ``VisibilityConstraint`` allows to eg. specify a camera should always be able to see the gripper.
+
+How this is achieved is best explained by the `VisibilityConstraint <https://docs.ros.org/melodic/api/moveit_core/html/classkinematic__constraints_1_1VisibilityConstraint.html#details>`_ class documentation.
+
+Such a constraint is compactly defined like this::
+
+ - type: visibility
+   target_radius: 0.5
+   target_pose:
+     frame_id: 'base_link'
+     position: [1.2, 3.4, 5.6]
+     orientation: [-3.1415269, -1.57079632, 0] #RPY
+   cone_sides: 4
+   sensor_pose:
+     frame_id: 'gripper_cam_link'
+     position: [1.2, 3.4, 5.6]
+     orientation: [-3.1415269, -1.57079632, 0] #RPY
+   max_view_angle: 1.1
+   max_range_angle: 0.55
+   weight: 1.0
+
+Running the database generator
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Assuming MoveIt itself is already launched (via eg. ``roslaunch X_moveit_config demo.launch``), you can use a launch file similar to `generate_state_database.launch <https://github.com/ros-planning/moveit/blob/master/moveit_planners/ompl/ompl_interface/launch/generate_state_database.launch>`_
+
+The file with the constraint definitions can be passed to the launch file::
+
+ roslaunch ompl_interface generate_state_database.launch constraints_file:=$(rospack find X_moveit_config)/config/constraints.yaml planning_group:=arm
+
+Internals
+^^^^^^^^^
 
 The main functionality is implemented in the `ConstraintsLibrary <http://docs.ros.org/melodic/api/moveit_planners_ompl/html/classompl__interface_1_1ConstraintsLibrary.html>`_ class.