37 #ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_FACTORY_ 38 #define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_FACTORY_ 42 #include <moveit_msgs/MotionPlanRequest.h> 70 virtual int canRepresentProblem(
const std::string& group,
const moveit_msgs::MotionPlanRequest& req,
71 const robot_model::RobotModelConstPtr& kmodel)
const = 0;
virtual ~ModelBasedStateSpaceFactory()
virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const =0
virtual int canRepresentProblem(const std::string &group, const moveit_msgs::MotionPlanRequest &req, const robot_model::RobotModelConstPtr &kmodel) const =0
Decide whether the type of state space constructed by this factory could represent problems specified...
ModelBasedStateSpacePtr getNewStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const
The MoveIt! interface to OMPL.
MOVEIT_CLASS_FORWARD(ConstraintsLibrary)
same_shared_ptr< ModelBasedStateSpace, ompl::base::StateSpacePtr >::type ModelBasedStateSpacePtr
const std::string & getType() const
ModelBasedStateSpaceFactory()