This class exists as a union of constraint samplers. It contains a vector of constraint samplers, and will sample from each of them. More...
#include <union_constraint_sampler.h>
Public Member Functions | |
| virtual bool | canService (const moveit_msgs::Constraints &constr) const |
| No-op, as the union constraint sampler can act on anything. | |
| virtual bool | configure (const moveit_msgs::Constraints &constr) |
| No-op, as the union constraint sampler is for already configured samplers. | |
| const std::vector < ConstraintSamplerPtr > & | getSamplers () const |
| Gets the sorted internal list of constraint samplers. | |
| virtual bool | project (robot_state::JointStateGroup *jsg, const robot_state::RobotState &ks, unsigned int max_attempts) |
| Project a sample given the constraints, updating the joint state group. This function allows the parameter max_attempts to be set. | |
| virtual bool | sample (robot_state::JointStateGroup *jsg, const robot_state::RobotState &ks, unsigned int max_attempts) |
| Produces a sample from all configured samplers. | |
| UnionConstraintSampler (const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const std::vector< ConstraintSamplerPtr > &samplers) | |
| Constructor, which will re-order its internal list of samplers on construction. | |
Protected Attributes | |
| std::vector< ConstraintSamplerPtr > | samplers_ |
| Holder for sorted internal list of samplers. | |
Detailed Description
This class exists as a union of constraint samplers. It contains a vector of constraint samplers, and will sample from each of them.
When asked to sample it will call the samplers in a sorted order that samples more general groups - like a robot's whole body - before sampling more specific groups, such as a robot's arm. Member samplers can operate on all or part of a joint state group vector, with later samplers potentially overwriting previous samplers.
Definition at line 57 of file union_constraint_sampler.h.
Constructor & Destructor Documentation
| constraint_samplers::UnionConstraintSampler::UnionConstraintSampler | ( | const planning_scene::PlanningSceneConstPtr & | scene, |
| const std::string & | group_name, | ||
| const std::vector< ConstraintSamplerPtr > & | samplers | ||
| ) |
Constructor, which will re-order its internal list of samplers on construction.
The samplers need not all refer to the same group, as long as all are part of the kinematic model. The sampler will sort the samplers based on a set of criteria - where A and B are two samplers being considered for swapping by a sort algorithm:
- If the set of links updated by the group of A are a proper subset of the set of links updated by the group of B, A and B are not swapped. If the updated links of B are a proper set of the updated links of A, A and B are swapped.
- Otherwise, the groups associated with A and B are either disjoint in terms of updated links or have an equivalent group. In this case, it is determined if any updated links in the group for A exist in the frame dependency of B, or vice-versa.
- If A depends on B, and B depends on A, a warning message is printed that circular dependencies are likely to lead to bad samples. A and B are not swapped.
- If one of the frame dependencies of B is a link updated by A, but not vice-versa, the samplers are swapped.
- If one of the frame dependencies of A is a link updated by B, but not vice-versa, the samplers are not swapped.
- If no dependency exists, the samplers are swapped according to alphabetical order.
- Parameters:
-
[in] scene The planning scene [in] group_name The group name is ignored, as each sampler already has a group name [in] samplers A vector of already configured samplers that will be applied for future samples
- Returns:
Definition at line 108 of file union_constraint_sampler.cpp.
Member Function Documentation
| virtual bool constraint_samplers::UnionConstraintSampler::canService | ( | const moveit_msgs::Constraints & | constr | ) | const [inline, virtual] |
No-op, as the union constraint sampler can act on anything.
- Parameters:
-
[in] constr Constraint message
- Returns:
- Always true
Definition at line 133 of file union_constraint_sampler.h.
| virtual bool constraint_samplers::UnionConstraintSampler::configure | ( | const moveit_msgs::Constraints & | constr | ) | [inline, virtual] |
No-op, as the union constraint sampler is for already configured samplers.
- Parameters:
-
[in] constr Constraint message
- Returns:
- Always true
Implements constraint_samplers::ConstraintSampler.
Definition at line 121 of file union_constraint_sampler.h.
| const std::vector<ConstraintSamplerPtr>& constraint_samplers::UnionConstraintSampler::getSamplers | ( | ) | const [inline] |
Gets the sorted internal list of constraint samplers.
- Returns:
- The sorted internal list of constraint samplers
Definition at line 108 of file union_constraint_sampler.h.
| bool constraint_samplers::UnionConstraintSampler::project | ( | robot_state::JointStateGroup * | jsg, |
| const robot_state::RobotState & | reference_state, | ||
| unsigned int | max_attempts | ||
| ) | [virtual] |
Project a sample given the constraints, updating the joint state group. This function allows the parameter max_attempts to be set.
- Parameters:
-
[out] jsg The joint state group which specifies the state to be projected, according to the constraints [in] reference_state Reference state that will be used to do transforms or perform other actions [in] max_attempts The maximum number of times to attempt to draw a sample. If no sample has been drawn in this number of attempts, false will be returned.
- Returns:
- True if a sample was successfully projected, false otherwise
Implements constraint_samplers::ConstraintSampler.
Definition at line 156 of file union_constraint_sampler.cpp.
| bool constraint_samplers::UnionConstraintSampler::sample | ( | robot_state::JointStateGroup * | jsg, |
| const robot_state::RobotState & | ks, | ||
| unsigned int | max_attempts | ||
| ) | [virtual] |
Produces a sample from all configured samplers.
This function will call each sampler in sorted order independently of the group associated with the sampler. The function will also operate independently of the joint state group passed in as an argument. If any sampler fails, the sample fails altogether.
- Parameters:
-
[in] jsg A joint state group, which only needs to have a valid associated kinematic model [in] ks Reference kinematic state that will be passed through to samplers [in] max_attempts Max attempts, which will be passed through to samplers
- Returns:
- True if all invidual samplers return true
Implements constraint_samplers::ConstraintSampler.
Definition at line 125 of file union_constraint_sampler.cpp.
Member Data Documentation
std::vector<ConstraintSamplerPtr> constraint_samplers::UnionConstraintSampler::samplers_ [protected] |
Holder for sorted internal list of samplers.
Definition at line 159 of file union_constraint_sampler.h.
The documentation for this class was generated from the following files: