pr2_constraint_sampler.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#include <moveit/constraint_samplers/constraint_sampler_allocator.h>
#include <pluginlib/class_list_macros.hpp>

namespace pr2_constraint_sampler
{

// define the actual sampler
class PR2ConstraintSampler : public constraint_samplers::ConstraintSampler
{
public:

  PR2ConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name) : constraint_samplers::ConstraintSampler(scene, group_name)
  {
  }

  virtual bool configure(const moveit_msgs::Constraints &constr)
  {
    return false;
  }

  virtual bool sample(planning_models::RobotState *::JointStateGroup *jsg, const planning_models::RobotState& reference_state, unsigned int max_attempts)
  {
    return false;
  }

};

// define the sampler allocator plugin interface
class PR2ConstraintSamplerAllocator : public constraint_samplers::ConstraintSamplerAllocator
{
public:

  virtual constraint_samplers::ConstraintSamplerPtr alloc(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr)
  {
    constraint_samplers::ConstraintSamplerPtr cs(new PR2ConstraintSampler(scene, group_name));
    cs->configure(constr);
    return cs;
  }

  virtual bool canService(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr) const
  {
    return false;
  }

};

}

PLUGINLIB_EXPORT_CLASS(pr2_constraint_sampler::PR2ConstraintSamplerAllocator,
                       constraint_samplers::ConstraintSamplerAllocator);