union_constraint_sampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
00038 #define MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
00039 
00040 #include <moveit/constraint_samplers/constraint_sampler.h>
00041 
00042 namespace constraint_samplers
00043 {
00057 class UnionConstraintSampler : public ConstraintSampler
00058 {
00059 public:
00098   UnionConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene,
00099                          const std::string &group_name,
00100                          const std::vector<ConstraintSamplerPtr> &samplers);
00101 
00108   const std::vector<ConstraintSamplerPtr>& getSamplers() const
00109   {
00110     return samplers_;
00111   }
00112 
00121   virtual bool configure(const moveit_msgs::Constraints &constr)
00122   {
00123     return true;
00124   }
00125 
00133   virtual bool canService(const moveit_msgs::Constraints &constr) const
00134   {
00135     return true;
00136   }
00137 
00153   virtual bool sample(robot_state::RobotState &state, const robot_state::RobotState &reference_state, unsigned int max_attempts);
00154 
00155   virtual bool project(robot_state::RobotState &state, unsigned int max_attempts);
00156 
00162   virtual const std::string& getName() const
00163   {
00164     static const std::string SAMPLER_NAME = "UnionConstraintSampler";
00165     return SAMPLER_NAME;
00166   }
00167 
00168 protected:
00169 
00170   std::vector<ConstraintSamplerPtr> samplers_; 
00171 };
00172 
00173 }
00174 
00175 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:53