ros-planning/moveit_commander — pull request #19 by e1000i (2014-03-12 14:14:48+00:00)
Title: Added the calls necessary to manage path constraints. This commit

dependts on the changes commited to moveit_ros package to have access
to this functionalities.

If the pull request is accepted, this one should work fine also.
https://github.com/ros-planning/moveit_ros/pull/438

Bassically now is possible to set the constraints as a moviet_msgs
Constraint message and retrieve an instance of the current path constraints
for a group.