constraint_sampler.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_
#define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_

#include <moveit/planning_scene/planning_scene.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <boost/shared_ptr.hpp>
#include <vector>

namespace constraint_samplers
{
class ConstraintSampler
{
public:

  static const unsigned int DEFAULT_MAX_SAMPLING_ATTEMPTS = 2;

  ConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name);

  virtual ~ConstraintSampler()
  {
  }

  virtual bool configure(const moveit_msgs::Constraints &constr) = 0;

  const std::string& getGroupName() const
  {
    return getJointModelGroup()->getName();
  }

  const robot_model::JointModelGroup* getJointModelGroup() const
  {
    return jmg_;
  }

  const planning_scene::PlanningSceneConstPtr& getPlanningScene() const
  {
    return scene_;
  }

  const std::vector<std::string>& getFrameDependency() const
  {
    return frame_depends_;
  }

  const robot_state::GroupStateValidityCallbackFn& getGroupStateValidityCallback() const
  {
    return group_state_validity_callback_;
  }

  void setGroupStateValidityCallback(const robot_state::GroupStateValidityCallbackFn &callback)
  {
    group_state_validity_callback_ = callback;
  }


  bool sample(robot_state::RobotState &state)
  {
    return sample(state, state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
  }


  bool sample(robot_state::RobotState &state, unsigned int max_attempts)
  {
    return sample(state, state, max_attempts);
  }

  bool sample(robot_state::RobotState &state, const robot_state::RobotState &reference_state)
  {
    return sample(state, reference_state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
  }

  bool project(robot_state::RobotState &state)
  {
    return project(state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
  }

  virtual bool sample(robot_state::RobotState &state,
                      const robot_state::RobotState &reference_state,
                      unsigned int max_attempts) = 0;

  virtual bool project(robot_state::RobotState &state,
                       unsigned int max_attempts) = 0;

  bool isValid() const
  {
    return is_valid_;
  }

  bool getVerbose() const
  {
    return verbose_;
  }

  void setVerbose(bool flag)
  {
    verbose_ = flag;
  }

  virtual const std::string& getName() const = 0;

protected:

  virtual void clear();

  bool                                  is_valid_;  
  planning_scene::PlanningSceneConstPtr scene_; 
  const robot_model::JointModelGroup   *jmg_; 
  std::vector<std::string>              frame_depends_;
  robot_state::GroupStateValidityCallbackFn group_state_validity_callback_; 
  bool                                  verbose_; 
};

MOVEIT_CLASS_FORWARD(ConstraintSampler);

}


#endif