constraint_sampler_tools.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_TOOLS_
#define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_TOOLS_

#include <moveit/constraint_samplers/constraint_sampler.h>
#include <visualization_msgs/MarkerArray.h>

namespace constraint_samplers
{

void visualizeDistribution(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state,
                           const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers);

void visualizeDistribution(const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group,
                           const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers);

double countSamplesPerSecond(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state);

double countSamplesPerSecond(const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group);

}


#endif