constraint_sampler_manager.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_MANAGER_
#define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_MANAGER_

#include <moveit/constraint_samplers/constraint_sampler_allocator.h>
#include <boost/shared_ptr.hpp>

namespace constraint_samplers
{

class ConstraintSamplerManager
{
public:
  ConstraintSamplerManager()
  {
  }
  void registerSamplerAllocator(const ConstraintSamplerAllocatorPtr &sa)
  {
    sampler_alloc_.push_back(sa);
  }
  ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr) const;

  static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr);

private:

  std::vector<ConstraintSamplerAllocatorPtr> sampler_alloc_; 
};

typedef boost::shared_ptr<ConstraintSamplerManager> ConstraintSamplerManagerPtr; 
typedef boost::shared_ptr<const ConstraintSamplerManager> ConstraintSamplerManagerConstPtr; 
}


#endif