ompl_interface::ValidConstrainedSampler Class Reference

#include <constrained_valid_state_sampler.h>

List of all members.

Public Member Functions
virtual bool	project (ompl::base::State *state)
virtual bool	sample (ompl::base::State *state)
virtual bool	sampleNear (ompl::base::State *state, const ompl::base::State *near, const double distance)
	ValidConstrainedSampler (const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks, const constraint_samplers::ConstraintSamplerPtr &cs=constraint_samplers::ConstraintSamplerPtr())
Private Attributes
constraint_samplers::ConstraintSamplerPtr	constraint_sampler_
ompl::base::StateSamplerPtr	default_sampler_
double	inv_dim_
kinematic_constraints::KinematicConstraintSetPtr	kinematic_constraint_set_
const ModelBasedPlanningContext *	planning_context_
ompl::RNG	rng_
robot_state::RobotState	work_state_

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Detailed Description

This class defines a sampler that tries to find a valid sample that satisfies the specified constraints

Definition at line 53 of file constrained_valid_state_sampler.h.

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Constructor & Destructor Documentation

ompl_interface::ValidConstrainedSampler::ValidConstrainedSampler	(	const ModelBasedPlanningContext *	pc,
		const kinematic_constraints::KinematicConstraintSetPtr &	ks,
		const constraint_samplers::ConstraintSamplerPtr &	cs = constraint_samplers::ConstraintSamplerPtr()
	)

Definition at line 41 of file constrained_valid_state_sampler.cpp.

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Member Function Documentation

bool ompl_interface::ValidConstrainedSampler::project

(

ompl::base::State *

state

)

[virtual]

Definition at line 56 of file constrained_valid_state_sampler.cpp.

bool ompl_interface::ValidConstrainedSampler::sample

(

ompl::base::State *

state

)

[virtual]

Definition at line 73 of file constrained_valid_state_sampler.cpp.

bool ompl_interface::ValidConstrainedSampler::sampleNear	(	ompl::base::State *	state,
		const ompl::base::State *	near,
		const double	distance
	)		[virtual]

Definition at line 99 of file constrained_valid_state_sampler.cpp.

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Member Data Documentation

constraint_samplers::ConstraintSamplerPtr ompl_interface::ValidConstrainedSampler::constraint_sampler_ [private]

Definition at line 67 of file constrained_valid_state_sampler.h.

ompl::base::StateSamplerPtr ompl_interface::ValidConstrainedSampler::default_sampler_ [private]

Definition at line 68 of file constrained_valid_state_sampler.h.

double ompl_interface::ValidConstrainedSampler::inv_dim_ [private]

Definition at line 70 of file constrained_valid_state_sampler.h.

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ValidConstrainedSampler::kinematic_constraint_set_ [private]

Definition at line 66 of file constrained_valid_state_sampler.h.

const ModelBasedPlanningContext* ompl_interface::ValidConstrainedSampler::planning_context_ [private]

Definition at line 65 of file constrained_valid_state_sampler.h.

ompl::RNG ompl_interface::ValidConstrainedSampler::rng_ [private]

Definition at line 71 of file constrained_valid_state_sampler.h.

robot_state::RobotState ompl_interface::ValidConstrainedSampler::work_state_ [private]

Definition at line 69 of file constrained_valid_state_sampler.h.

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The documentation for this class was generated from the following files:

• constrained_valid_state_sampler.h
• constrained_valid_state_sampler.cpp