constrained_valid_state_sampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
00038 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
00039 
00040 #include <ompl/base/StateSampler.h>
00041 #include <ompl/base/ValidStateSampler.h>
00042 #include <moveit/constraint_samplers/constraint_sampler.h>
00043 
00044 namespace ompl_interface
00045 {
00046 
00047 class ModelBasedPlanningContext;
00048 
00051 class ValidConstrainedSampler : public ompl::base::ValidStateSampler
00052 {
00053 public:
00054 
00055   ValidConstrainedSampler(const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks,
00056                           const constraint_samplers::ConstraintSamplerPtr &cs = constraint_samplers::ConstraintSamplerPtr());
00057 
00058   virtual bool sample(ompl::base::State *state);
00059   virtual bool project(ompl::base::State *state);
00060   virtual bool sampleNear(ompl::base::State *state, const ompl::base::State *near, const double distance);
00061 
00062 private:
00063 
00064   const ModelBasedPlanningContext                  *planning_context_;
00065   kinematic_constraints::KinematicConstraintSetPtr  kinematic_constraint_set_;
00066   constraint_samplers::ConstraintSamplerPtr         constraint_sampler_;
00067   ompl::base::StateSamplerPtr                       default_sampler_;
00068   robot_state::RobotState                           work_state_;
00069   double                                            inv_dim_;
00070   ompl::RNG                                         rng_;
00071 };
00072 
00073 typedef boost::shared_ptr<ValidConstrainedSampler> ValidConstrainedSamplerPtr;
00074 typedef boost::shared_ptr<const ValidConstrainedSampler> ValidConstrainedSamplerConstPtr;
00075 
00076 }
00077 
00078 #endif


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