union_constraint_sampler.h
Go to the documentation of this file.
00001 /*********************************************************************
00002  * Software License Agreement (BSD License)
00003  *
00004  *  Copyright (c) 2011, Willow Garage, Inc.
00005  *  All rights reserved.
00006  *
00007  *  Redistribution and use in source and binary forms, with or without
00008  *  modification, are permitted provided that the following conditions
00009  *  are met:
00010  *
00011  *   * Redistributions of source code must retain the above copyright
00012  *     notice, this list of conditions and the following disclaimer.
00013  *   * Redistributions in binary form must reproduce the above
00014  *     copyright notice, this list of conditions and the following
00015  *     disclaimer in the documentation and/or other materials provided
00016  *     with the distribution.
00017  *   * Neither the name of Willow Garage nor the names of its
00018  *     contributors may be used to endorse or promote products derived
00019  *     from this software without specific prior written permission.
00020  *
00021  *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022  *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023  *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024  *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025  *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026  *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027  *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028  *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029  *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030  *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031  *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032  *  POSSIBILITY OF SUCH DAMAGE.
00033  *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
00038 #define MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
00039 
00040 #include <moveit/constraint_samplers/constraint_sampler.h>
00041 
00042 namespace constraint_samplers
00043 {
00057 class UnionConstraintSampler : public ConstraintSampler
00058 {
00059 public:
00098   UnionConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
00099                          const std::vector<ConstraintSamplerPtr>& samplers);
00100 
00107   const std::vector<ConstraintSamplerPtr>& getSamplers() const
00108   {
00109     return samplers_;
00110   }
00111 
00120   virtual bool configure(const moveit_msgs::Constraints& constr)
00121   {
00122     return true;
00123   }
00124 
00132   virtual bool canService(const moveit_msgs::Constraints& constr) const
00133   {
00134     return true;
00135   }
00136 
00152   virtual bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
00153                       unsigned int max_attempts);
00154 
00155   virtual bool project(robot_state::RobotState& state, unsigned int max_attempts);
00156 
00162   virtual const std::string& getName() const
00163   {
00164     static const std::string SAMPLER_NAME = "UnionConstraintSampler";
00165     return SAMPLER_NAME;
00166   }
00167 
00168 protected:
00169   std::vector<ConstraintSamplerPtr> samplers_; 
00170 };
00171 }
00172 
00173 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jun 19 2019 19:23:49