constraint_approximations.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINT_APPROXIMATION_
00038 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINT_APPROXIMATION_
00039 
00040 #include <planning_scene/planning_scene.h>
00041 #include <kinematic_constraints/kinematic_constraint.h>
00042 #include <ompl/base/StateStorage.h>
00043 #include <visualization_msgs/MarkerArray.h>
00044 #include <boost/function.hpp>
00045 
00046 namespace ompl_interface
00047 {
00048 
00049 typedef ompl::base::StateStorageWithMetadata< std::vector<std::size_t> > ConstraintApproximationStateStorage;
00050 typedef boost::function<bool(const ompl::base::State*, const ompl::base::State*)> ConstraintStateStorageOrderFn;
00051 
00052 struct ConstraintApproximation
00053 {
00054   ConstraintApproximation(const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory,
00055                           const std::string &serialization, const std::string &filename, const ompl::base::StateStoragePtr &storage);
00056   ConstraintApproximation(const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory,
00057                           const moveit_msgs::Constraints &msg, const std::string &filename, const ompl::base::StateStoragePtr &storage);
00058 
00059   void visualizeDistribution(const std::string &link_name, unsigned int count, visualization_msgs::MarkerArray &arr) const;
00060 
00061   std::string                                      group_;
00062   std::string                                      factory_;
00063   std::string                                      serialization_;
00064   moveit_msgs::Constraints                         constraint_msg_;
00065   planning_models::RobotModelConstPtr          kmodel_;
00066   kinematic_constraints::KinematicConstraintSetPtr kconstraints_set_;
00067   std::vector<int>                                 space_signature_;
00068 
00069   std::string                                      ompldb_filename_;
00070   ompl::base::StateStoragePtr                      state_storage_ptr_;
00071   ConstraintApproximationStateStorage             *state_storage_;
00072 };
00073 
00074 typedef boost::shared_ptr<std::vector<ConstraintApproximation> > ConstraintApproximationsPtr;
00075 }
00076 
00077 #endif


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