pr2_constraint_sampler.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/constraint_samplers/constraint_sampler_allocator.h>
00038 #include <pluginlib/class_list_macros.h>
00039 
00040 namespace pr2_constraint_sampler
00041 {
00042 
00043 // define the actual sampler
00044 class PR2ConstraintSampler : public constraint_samplers::ConstraintSampler
00045 {
00046 public:
00047 
00048   PR2ConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name) : constraint_samplers::ConstraintSampler(scene, group_name)
00049   {
00050   }
00051 
00052   virtual bool configure(const moveit_msgs::Constraints &constr)
00053   {
00054     return false;
00055   }
00056 
00057   virtual bool sample(planning_models::RobotState *::JointStateGroup *jsg, const planning_models::RobotState& reference_state, unsigned int max_attempts)
00058   {
00059     return false;
00060   }
00061 
00062 };
00063 
00064 // define the sampler allocator plugin interface
00065 class PR2ConstraintSamplerAllocator : public constraint_samplers::ConstraintSamplerAllocator
00066 {
00067 public:
00068 
00069   virtual constraint_samplers::ConstraintSamplerPtr alloc(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr)
00070   {
00071     constraint_samplers::ConstraintSamplerPtr cs(new PR2ConstraintSampler(scene, group_name));
00072     cs->configure(constr);
00073     return cs;
00074   }
00075 
00076   virtual bool canService(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr) const
00077   {
00078     return false;
00079   }
00080 
00081 };
00082 
00083 }
00084 
00085 PLUGINLIB_EXPORT_CLASS(pr2_constraint_sampler::PR2ConstraintSamplerAllocator,
00086                        constraint_samplers::ConstraintSamplerAllocator);


pr2_moveit_plugins
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Sep 14 2015 14:17:49