46 const std::string& group,
const moveit_msgs::MotionPlanRequest& req,
47 const moveit::core::RobotModelConstPtr& robot_model)
const
58 else if (!slv.second.empty())
63 for (
const auto& jt : slv.second)
65 vc += jt.first->getVariableCount();
66 bc += jt.second.bijection_.size();
75 if ((!req.path_constraints.position_constraints.empty() ||
76 !req.path_constraints.orientation_constraints.empty()) &&
77 req.path_constraints.joint_constraints.empty() && req.path_constraints.visibility_constraints.empty())
86 ompl_interface::ModelBasedStateSpacePtr
89 return std::make_shared<PoseModelStateSpace>(space_spec);