constraint_sampler_tools.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_TOOLS_
#define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_TOOLS_

#include <moveit/constraint_samplers/constraint_sampler.h>
#include <visualization_msgs/MarkerArray.h>

namespace constraint_samplers
{
void visualizeDistribution(const ConstraintSamplerPtr& sampler, const robot_state::RobotState& reference_state,
                           const std::string& link_name, unsigned int sample_count,
                           visualization_msgs::MarkerArray& markers);

void visualizeDistribution(const moveit_msgs::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
                           const std::string& group, const std::string& link_name, unsigned int sample_count,
                           visualization_msgs::MarkerArray& markers);

double countSamplesPerSecond(const ConstraintSamplerPtr& sampler, const robot_state::RobotState& reference_state);

double countSamplesPerSecond(const moveit_msgs::Constraints& constr, const planning_scene::PlanningSceneConstPtr& scene,
                             const std::string& group);
}

#endif