reachable_valid_pose_filter.h

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/* Author: Ioan Sucan, Sachin Chitta */
 
#pragma once
 
#include <moveit/pick_place/manipulation_stage.h>
#include <moveit/constraint_samplers/constraint_sampler_manager.h>
#include <moveit/planning_scene/planning_scene.h>
 
namespace pick_place
{
class ReachableAndValidPoseFilter : public ManipulationStage
{
public:
  ReachableAndValidPoseFilter(const planning_scene::PlanningSceneConstPtr& scene,
                              const collision_detection::AllowedCollisionMatrixConstPtr& collision_matrix,
                              const constraint_samplers::ConstraintSamplerManagerPtr& constraints_sampler_manager);
 
  bool evaluate(const ManipulationPlanPtr& plan) const override;
 
private:
  bool isEndEffectorFree(const ManipulationPlanPtr& plan, moveit::core::RobotState& token_state) const;
 
  planning_scene::PlanningSceneConstPtr planning_scene_;
  collision_detection::AllowedCollisionMatrixConstPtr collision_matrix_;
  constraint_samplers::ConstraintSamplerManagerPtr constraints_sampler_manager_;
};
}  // namespace pick_place