constraint_sampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 
39 constraint_samplers::ConstraintSampler::ConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene,
40  const std::string& group_name)
41  : is_valid_(false), scene_(scene), jmg_(scene->getRobotModel()->getJointModelGroup(group_name)), verbose_(false)
42 {
43  if (!jmg_)
44  {
45  ROS_ERROR_NAMED("constraint_samplers", "A JointModelGroup should have been specified for the constraint sampler");
46  }
47 }
48 
50 {
51  is_valid_ = false;
52  frame_depends_.clear();
53 }
virtual void clear()
Clears all data from the constraint.
ConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name)
Constructor.
const robot_model::JointModelGroup *const jmg_
Holds the joint model group associated with this constraint.
std::vector< std::string > frame_depends_
Holds the set of frames that must exist in the reference state to allow samples to be drawn...
bool is_valid_
Holds the value for validity.
#define ROS_ERROR_NAMED(name,...)


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Oct 18 2020 13:16:33