seed_search.h

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/*
 * Software License Agreement (Apache License)
 *
 * Copyright (c) 2015, Southwest Research Institute
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */

#ifndef SEED_SEARCH_H
#define SEED_SEARCH_H

#include <moveit/robot_state/robot_state.h>

namespace descartes_moveit
{
namespace seed
{
std::vector<std::vector<double> > findSeedStatesByPairs(moveit::core::RobotState& state, const std::string& group_name,
                                                        const std::string& tool_frame,
                                                        const std::vector<std::pair<unsigned, unsigned> >& pairs);

inline std::vector<std::vector<double> > findIndustrialSixDOFSeeds(moveit::core::RobotState& state,
                                                                   const std::string& group_name,
                                                                   const std::string& tool_frame)
{
  return findSeedStatesByPairs(state, group_name, tool_frame, { { 1, 2 }, { 3, 5 } });
}

std::vector<std::vector<double> > findRandomSeeds(moveit::core::RobotState& state, const std::string& group_name,
                                                  unsigned n);

}  // end namespace seed
}  // end namespace descartes_moveit

#endif  // SEED_SEARCH_H