constraint_sampler_manager.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_MANAGER_
38 #define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_MANAGER_
39 
42 
43 namespace constraint_samplers
44 {
45 MOVEIT_CLASS_FORWARD(ConstraintSamplerManager);
46 
58 {
59 public:
65  {
66  }
72  void registerSamplerAllocator(const ConstraintSamplerAllocatorPtr& sa)
73  {
74  sampler_alloc_.push_back(sa);
75  }
92  ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
93  const moveit_msgs::Constraints& constr) const;
94 
138  static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr& scene,
139  const std::string& group_name,
140  const moveit_msgs::Constraints& constr);
141 
142 private:
143  std::vector<ConstraintSamplerAllocatorPtr>
145 };
146 }
147 
148 #endif
std::vector< ConstraintSamplerAllocatorPtr > sampler_alloc_
Holds the constraint sampler allocators, which will be tested in order.
MOVEIT_CLASS_FORWARD(ConstraintSampler)
The constraint samplers namespace contains a number of methods for generating samples based on a cons...
ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr) const
Selects among the potential sampler allocators.
static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr)
Default logic to select a ConstraintSampler given a constraints message.
void registerSamplerAllocator(const ConstraintSamplerAllocatorPtr &sa)
Allows the user to specify an alternate ConstraintSamplerAllocation.
This class assists in the generation of a ConstraintSampler for a particular group from a moveit_msgs...


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