constraint_sampler.cpp

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/* Author: Ioan Sucan */

#include <moveit/constraint_samplers/constraint_sampler.h>

constraint_samplers::ConstraintSampler::ConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene,
                                                          const std::string& group_name)
  : is_valid_(false), scene_(scene), jmg_(scene->getRobotModel()->getJointModelGroup(group_name)), verbose_(false)
{
  if (!jmg_)
  {
    ROS_ERROR_NAMED("constraint_samplers", "A JointModelGroup should have been specified for the constraint sampler");
  }
}

void constraint_samplers::ConstraintSampler::clear()
{
  is_valid_ = false;
  frame_depends_.clear();
}