Public Member Functions
virtual bool	project (ompl::base::State *state)
virtual bool	sample (ompl::base::State *state)
virtual bool	sampleNear (ompl::base::State state, const ompl::base::State near, const double distance)
	ValidConstrainedSampler (const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks, const constraint_samplers::ConstraintSamplerPtr &cs=constraint_samplers::ConstraintSamplerPtr())
Private Attributes
constraint_samplers::ConstraintSamplerPtr	constraint_sampler_
ompl::base::StateSamplerPtr	default_sampler_
double	inv_dim_
kinematic_constraints::KinematicConstraintSetPtr	kinematic_constraint_set_
const ModelBasedPlanningContext *	planning_context_
ompl::RNG	rng_
robot_state::JointStateGroup *	work_joint_group_state_
robot_state::RobotState	work_state_

Detailed Description

This class defines a sampler that tries to find a valid sample that satisfies the specified constraints

Constructor & Destructor Documentation

ompl_interface::ValidConstrainedSampler::ValidConstrainedSampler	(	const ModelBasedPlanningContext *	pc,
		const kinematic_constraints::KinematicConstraintSetPtr &	ks,
		const constraint_samplers::ConstraintSamplerPtr &	cs = `constraint_samplers::ConstraintSamplerPtr()`
	)

bool ompl_interface::ValidConstrainedSampler::project ( ompl::base::State * state ) [virtual]

bool ompl_interface::ValidConstrainedSampler::sample ( ompl::base::State * state ) [virtual]

bool ompl_interface::ValidConstrainedSampler::sampleNear	(	ompl::base::State *	state,
		const ompl::base::State *	near,
		const double	distance
	)		`[virtual]`