constraint_sampler_tools.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_TOOLS_
00038 #define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_TOOLS_
00039 
00040 #include <moveit/constraint_samplers/constraint_sampler.h>
00041 #include <visualization_msgs/MarkerArray.h>
00042 
00043 namespace constraint_samplers
00044 {
00045 
00046 void visualizeDistribution(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state,
00047                            const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers);
00048 
00049 void visualizeDistribution(const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group,
00050                            const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers);
00051 
00052 double countSamplesPerSecond(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state);
00053 
00054 double countSamplesPerSecond(const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group);
00055 
00056 }
00057 
00058 
00059 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:52