37 #ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_TOOLS_ 38 #define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_TOOLS_ 41 #include <visualization_msgs/MarkerArray.h> 46 const std::string& link_name,
unsigned int sample_count,
47 visualization_msgs::MarkerArray& markers);
49 void visualizeDistribution(
const moveit_msgs::Constraints& constr,
const planning_scene::PlanningSceneConstPtr& scene,
50 const std::string& group,
const std::string& link_name,
unsigned int sample_count,
51 visualization_msgs::MarkerArray& markers);
55 double countSamplesPerSecond(
const moveit_msgs::Constraints& constr,
const planning_scene::PlanningSceneConstPtr& scene,
56 const std::string& group);
void visualizeDistribution(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state, const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)
double countSamplesPerSecond(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state)
The constraint samplers namespace contains a number of methods for generating samples based on a cons...
Representation of a robot's state. This includes position, velocity, acceleration and effort...