ompl_interface::ConstraintsLibrary Class Reference

#include <constraints_library.h>

Public Member Functions
ConstraintApproximationConstructionResults	addConstraintApproximation (const moveit_msgs::Constraints &constr, const std::string &group, const planning_scene::PlanningSceneConstPtr &scene, const ConstraintApproximationConstructionOptions &options)
ConstraintApproximationConstructionResults	addConstraintApproximation (const moveit_msgs::Constraints &constr_sampling, const moveit_msgs::Constraints &constr_hard, const std::string &group, const planning_scene::PlanningSceneConstPtr &scene, const ConstraintApproximationConstructionOptions &options)
void	clearConstraintApproximations ()
	ConstraintsLibrary (ModelBasedPlanningContext *pcontext)
const ConstraintApproximationPtr &	getConstraintApproximation (const moveit_msgs::Constraints &msg) const
void	loadConstraintApproximations (const std::string &path)
void	printConstraintApproximations (std::ostream &out=std::cout) const
void	registerConstraintApproximation (const ConstraintApproximationPtr &approx)
void	saveConstraintApproximations (const std::string &path)

Private Member Functions
ompl::base::StateStoragePtr	constructConstraintApproximation (ModelBasedPlanningContext *pcontext, const moveit_msgs::Constraints &constr_sampling, const moveit_msgs::Constraints &constr_hard, const ConstraintApproximationConstructionOptions &options, ConstraintApproximationConstructionResults &result)

Private Attributes
std::map< std::string, ConstraintApproximationPtr >	constraint_approximations_
ModelBasedPlanningContext *	context_

Detailed Description

Definition at line 192 of file constraints_library.h.

Constructor & Destructor Documentation

ConstraintsLibrary()

ompl_interface::ConstraintsLibrary::ConstraintsLibrary ( ModelBasedPlanningContext *  pcontext )

inline

Definition at line 195 of file constraints_library.h.

Member Function Documentation

addConstraintApproximation() [1/2]

ompl_interface::ConstraintApproximationConstructionResults ompl_interface::ConstraintsLibrary::addConstraintApproximation	(	const moveit_msgs::Constraints &	constr,
		const std::string &	group,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const ConstraintApproximationConstructionOptions &	options
	)

Definition at line 415 of file constraints_library.cpp.

addConstraintApproximation() [2/2]

ompl_interface::ConstraintApproximationConstructionResults ompl_interface::ConstraintsLibrary::addConstraintApproximation	(	const moveit_msgs::Constraints &	constr_sampling,
		const moveit_msgs::Constraints &	constr_hard,
		const std::string &	group,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const ConstraintApproximationConstructionOptions &	options
	)

Definition at line 424 of file constraints_library.cpp.

clearConstraintApproximations()

void ompl_interface::ConstraintsLibrary::clearConstraintApproximations

(

)

Definition at line 384 of file constraints_library.cpp.

constructConstraintApproximation()

ompl::base::StateStoragePtr ompl_interface::ConstraintsLibrary::constructConstraintApproximation ( ModelBasedPlanningContext *  pcontext, const moveit_msgs::Constraints &  constr_sampling, const moveit_msgs::Constraints &  constr_hard, const ConstraintApproximationConstructionOptions &  options, ConstraintApproximationConstructionResults &  result  )

private

Definition at line 464 of file constraints_library.cpp.

getConstraintApproximation()

const ompl_interface::ConstraintApproximationPtr & ompl_interface::ConstraintsLibrary::getConstraintApproximation

(

const moveit_msgs::Constraints &

msg

)

const

Definition at line 404 of file constraints_library.cpp.

loadConstraintApproximations()

void ompl_interface::ConstraintsLibrary::loadConstraintApproximations

(

const std::string &

path

)

Definition at line 277 of file constraints_library.cpp.

printConstraintApproximations()

void ompl_interface::ConstraintsLibrary::printConstraintApproximations

(

std::ostream &

out = std::cout

)

const

Definition at line 389 of file constraints_library.cpp.

registerConstraintApproximation()

void ompl_interface::ConstraintsLibrary::registerConstraintApproximation ( const ConstraintApproximationPtr &  approx )

inline

Definition at line 217 of file constraints_library.h.

saveConstraintApproximations()

void ompl_interface::ConstraintsLibrary::saveConstraintApproximations

(

const std::string &

path

)

Definition at line 351 of file constraints_library.cpp.

Member Data Documentation

constraint_approximations_

std::map<std::string, ConstraintApproximationPtr> ompl_interface::ConstraintsLibrary::constraint_approximations_

private

Definition at line 232 of file constraints_library.h.

context_

ModelBasedPlanningContext* ompl_interface::ConstraintsLibrary::context_

private

Definition at line 231 of file constraints_library.h.

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

• constraints_library.h
• constraints_library.cpp