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39 #include <ompl/base/goals/GoalLazySamples.h>
55 constraint_samplers::ConstraintSamplerPtr cs = constraint_samplers::ConstraintSamplerPtr());
bool sampleUsingConstraintSampler(const ompl::base::GoalLazySamples *gls, ompl::base::State *new_goal)
ConstrainedGoalSampler(const ModelBasedPlanningContext *pc, kinematic_constraints::KinematicConstraintSetPtr ks, constraint_samplers::ConstraintSamplerPtr cs=constraint_samplers::ConstraintSamplerPtr())
The MoveIt interface to OMPL.
moveit::core::RobotState work_state_
ompl::base::StateSamplerPtr default_sampler_
unsigned int verbose_display_
kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_
bool checkStateValidity(ompl::base::State *new_goal, const moveit::core::RobotState &state, bool verbose=false) const
bool stateValidityCallback(ompl::base::State *new_goal, moveit::core::RobotState const *state, const moveit::core::JointModelGroup *, const double *, bool verbose=false) const
unsigned int invalid_sampled_constraints_
bool warned_invalid_samples_
constraint_samplers::ConstraintSamplerPtr constraint_sampler_
const ModelBasedPlanningContext * planning_context_
ompl
Author(s): Ioan Sucan
autogenerated on Thu Apr 18 2024 02:24:37