#include <constrained_goal_sampler.h>

Inheritance diagram for ompl_interface::ConstrainedGoalSampler:

Public Member Functions
	ConstrainedGoalSampler (const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks, const constraint_samplers::ConstraintSamplerPtr &cs=constraint_samplers::ConstraintSamplerPtr())

Private Member Functions
bool	checkStateValidity (ompl::base::State *new_goal, const robot_state::RobotState &state, bool verbose=false) const

bool	sampleUsingConstraintSampler (const ompl::base::GoalLazySamples gls, ompl::base::State new_goal)

bool	stateValidityCallback (ompl::base::State new_goal, robot_state::RobotState const state, const robot_model::JointModelGroup , const double , bool verbose=false) const

Private Attributes
constraint_samplers::ConstraintSamplerPtr	constraint_sampler_

ompl::base::StateSamplerPtr	default_sampler_

unsigned int	invalid_sampled_constraints_

kinematic_constraints::KinematicConstraintSetPtr	kinematic_constraint_set_

const ModelBasedPlanningContext *	planning_context_

unsigned int	verbose_display_

bool	warned_invalid_samples_

robot_state::RobotState	work_state_

Detailed Description

An interface to the OMPL goal lazy sampler

Definition at line 53 of file constrained_goal_sampler.h.

Constructor & Destructor Documentation

ompl_interface::ConstrainedGoalSampler::ConstrainedGoalSampler	(	const ModelBasedPlanningContext *	pc,
		const kinematic_constraints::KinematicConstraintSetPtr &	ks,
		const constraint_samplers::ConstraintSamplerPtr &	cs = `constraint_samplers::ConstraintSamplerPtr()`
	)

Definition at line 42 of file constrained_goal_sampler.cpp.

Member Function Documentation

bool ompl_interface::ConstrainedGoalSampler::checkStateValidity	(	ompl::base::State *	new_goal,
		const robot_state::RobotState &	state,
		bool	verbose = `false`
	)		const

private

Definition at line 61 of file constrained_goal_sampler.cpp.

bool ompl_interface::ConstrainedGoalSampler::sampleUsingConstraintSampler	(	const ompl::base::GoalLazySamples *	gls,
		ompl::base::State *	new_goal
	)

private

Definition at line 81 of file constrained_goal_sampler.cpp.

bool ompl_interface::ConstrainedGoalSampler::stateValidityCallback	(	ompl::base::State *	new_goal,
		robot_state::RobotState const *	state,
		const robot_model::JointModelGroup *	,
		const double *	,
		bool	verbose = `false`
	)		const

private

Definition at line 69 of file constrained_goal_sampler.cpp.

Member Data Documentation

constraint_samplers::ConstraintSamplerPtr ompl_interface::ConstrainedGoalSampler::constraint_sampler_

private

Definition at line 69 of file constrained_goal_sampler.h.

ompl::base::StateSamplerPtr ompl_interface::ConstrainedGoalSampler::default_sampler_

private

Definition at line 70 of file constrained_goal_sampler.h.

unsigned int ompl_interface::ConstrainedGoalSampler::invalid_sampled_constraints_

private

Definition at line 72 of file constrained_goal_sampler.h.

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ConstrainedGoalSampler::kinematic_constraint_set_

private

Definition at line 68 of file constrained_goal_sampler.h.

const ModelBasedPlanningContext* ompl_interface::ConstrainedGoalSampler::planning_context_

private

Definition at line 67 of file constrained_goal_sampler.h.

unsigned int ompl_interface::ConstrainedGoalSampler::verbose_display_

private

Definition at line 74 of file constrained_goal_sampler.h.

bool ompl_interface::ConstrainedGoalSampler::warned_invalid_samples_

private

Definition at line 73 of file constrained_goal_sampler.h.

robot_state::RobotState ompl_interface::ConstrainedGoalSampler::work_state_

private

Definition at line 71 of file constrained_goal_sampler.h.

The documentation for this class was generated from the following files:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation