constrained_sampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_SAMPLER_
00038 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_SAMPLER_
00039 
00040 #include <ompl/base/StateSampler.h>
00041 #include <moveit/constraint_samplers/constraint_sampler.h>
00042 
00043 namespace ompl_interface
00044 {
00045 
00046 class ModelBasedPlanningContext;
00047 
00050 class ConstrainedSampler : public ompl::base::StateSampler
00051 {
00052 public:
00057   ConstrainedSampler(const ModelBasedPlanningContext *pc, const constraint_samplers::ConstraintSamplerPtr &cs);
00058 
00060   virtual void sampleUniform(ompl::base::State *state);
00061 
00063   virtual void sampleUniformNear(ompl::base::State *state, const ompl::base::State *near, const double distance);
00064 
00066   virtual void sampleGaussian(ompl::base::State *state, const ompl::base::State *mean, const double stdDev);
00067 
00068   double getConstrainedSamplingRate() const;
00069 
00070 private:
00071 
00072   bool sampleC(ompl::base::State *state);
00073 
00074   const ModelBasedPlanningContext                  *planning_context_;
00075   ompl::base::StateSamplerPtr                       default_;
00076   constraint_samplers::ConstraintSamplerPtr         constraint_sampler_;
00077   robot_state::RobotState                           work_state_;
00078   unsigned int                                      constrained_success_;
00079   unsigned int                                      constrained_failure_;
00080   double                                            inv_dim_;
00081 };
00082 
00083 }
00084 
00085 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Wed Sep 16 2015 04:42:27