ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a particular group of a robot. More...

#include <constraint_sampler.h>

Inheritance diagram for constraint_samplers::ConstraintSampler:

[legend]

List of all members.

Public Member Functions
virtual bool	configure (const moveit_msgs::Constraints &constr)=0
	Function for configuring a constraint sampler given a Constraints message.
	ConstraintSampler (const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name)
	Constructor.
const std::vector< std::string > &	getFrameDependency () const
	Return the names of the mobile frames whose pose is needed when sample() is called.
const std::string &	getGroupName () const
	Gets the group name set in the constructor.
const robot_state::GroupStateValidityCallbackFn &	getGroupStateValidityCallback () const
	Gets the callback used to determine state validity during sampling. The sampler will attempt to satisfy this constraint if possible, but there is no guarantee.
const robot_model::JointModelGroup *	getJointModelGroup () const
	Gets the joint model group.
virtual const std::string &	getName () const =0
	Get the name of the constraint sampler, for debugging purposes should be in CamelCase format.
const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const
	Gets the planning scene.
bool	getVerbose () const
	Check if the sampler is set to verbose mode.
bool	isValid () const
	Returns whether or not the constraint sampler is valid or not. To be valid, the joint model group must be available in the kinematic model and configure() must have successfully been called.
bool	project (robot_state::RobotState &state)
	Project a sample given the constraints, updating the joint state group. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to project the sample.
virtual bool	project (robot_state::RobotState &state, unsigned int max_attempts)=0
	Project a sample given the constraints, updating the joint state group. This function allows the parameter max_attempts to be set.
bool	sample (robot_state::RobotState &state)
	Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to take a sample.
bool	sample (robot_state::RobotState &state, unsigned int max_attempts)
	Samples given the constraints, populating state. This function allows the parameter max_attempts to be set.
bool	sample (robot_state::RobotState &state, const robot_state::RobotState &reference_state)
	Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to take a sample.
virtual bool	sample (robot_state::RobotState &state, const robot_state::RobotState &reference_state, unsigned int max_attempts)=0
	Samples given the constraints, populating state. This function allows the parameter max_attempts to be set.
void	setGroupStateValidityCallback (const robot_state::GroupStateValidityCallbackFn &callback)
	Sets the callback used to determine the state validity during sampling. The sampler will attempt to satisfy this constraint if possible, but there is no guarantee.
void	setVerbose (bool flag)
	Enable/disable verbose mode for sampler.
virtual	~ConstraintSampler ()
Static Public Attributes
static const unsigned int	DEFAULT_MAX_SAMPLING_ATTEMPTS = 2
	The default value associated with a sampling request. By default if a valid sample cannot be produced in this many attempts, it returns with no sample.
Protected Member Functions
virtual void	clear ()
	Clears all data from the constraint.
Protected Attributes
std::vector< std::string >	frame_depends_
	Holds the set of frames that must exist in the reference state to allow samples to be drawn.
robot_state::GroupStateValidityCallbackFn	group_state_validity_callback_
	Holds the callback for state validity.
bool	is_valid_
	Holds the value for validity.
const robot_model::JointModelGroup *	jmg_
	Holds the joint model group associated with this constraint.
planning_scene::PlanningSceneConstPtr	scene_
	Holds the planning scene.
bool	verbose_
	True if verbosity is on.

Detailed Description

ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a particular group of a robot.

Definition at line 59 of file constraint_sampler.h.

Constructor & Destructor Documentation

constraint_samplers::ConstraintSampler::ConstraintSampler	(	const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group_name
	)

Constructor.

Parameters:

[in]	scene	The planning scene that will be used for constraint checking
[in]	group_name	The group name associated with the constraint. Will be invalid if no group name is passed in or the joint model group cannot be found in the kinematic model

Definition at line 39 of file constraint_sampler.cpp.

virtual constraint_samplers::ConstraintSampler::~ConstraintSampler ( ) [inline, virtual]

Definition at line 78 of file constraint_sampler.h.

Member Function Documentation

void constraint_samplers::ConstraintSampler::clear ( ) [protected, virtual]

Clears all data from the constraint.

Reimplemented in constraint_samplers::IKConstraintSampler, and constraint_samplers::JointConstraintSampler.

Definition at line 51 of file constraint_sampler.cpp.

virtual bool constraint_samplers::ConstraintSampler::configure ( const moveit_msgs::Constraints & constr ) [pure virtual]

Function for configuring a constraint sampler given a Constraints message.

Parameters:

[in] constr The constraints from which to construct a sampler

Returns:: True if the configuration is successful. If true, isValid should also true. If false, isValid should return false

Implemented in constraint_samplers::IKConstraintSampler, constraint_samplers::UnionConstraintSampler, and constraint_samplers::JointConstraintSampler.

const std::vector<std::string>& constraint_samplers::ConstraintSampler::getFrameDependency ( ) const [inline]

Return the names of the mobile frames whose pose is needed when sample() is called.

Mobile frames mean frames other than the reference frame of the kinematic model. These frames may move when the kinematic state changes. Frame dependency can help determine an ordering from a set of constraint samplers - for more information see the derived class documentation for UnionConstraintSampler.

Returns:: The list of names whose pose is needed

Definition at line 135 of file constraint_sampler.h.

const std::string& constraint_samplers::ConstraintSampler::getGroupName ( ) const [inline]

Gets the group name set in the constructor.

Returns:: The group name

Definition at line 97 of file constraint_sampler.h.

const robot_state::GroupStateValidityCallbackFn& constraint_samplers::ConstraintSampler::getGroupStateValidityCallback ( ) const [inline]

Gets the callback used to determine state validity during sampling. The sampler will attempt to satisfy this constraint if possible, but there is no guarantee.

Definition at line 144 of file constraint_sampler.h.

const robot_model::JointModelGroup* constraint_samplers::ConstraintSampler::getJointModelGroup ( ) const [inline]

Gets the joint model group.

Returns:: The joint model group

Definition at line 108 of file constraint_sampler.h.

virtual const std::string& constraint_samplers::ConstraintSampler::getName ( ) const [pure virtual]

Get the name of the constraint sampler, for debugging purposes should be in CamelCase format.

Returns:: string of name

Implemented in constraint_samplers::IKConstraintSampler, constraint_samplers::UnionConstraintSampler, and constraint_samplers::JointConstraintSampler.

const planning_scene::PlanningSceneConstPtr& constraint_samplers::ConstraintSampler::getPlanningScene ( ) const [inline]

Gets the planning scene.

Returns:: The planning scene as a const ptr

Definition at line 119 of file constraint_sampler.h.

bool constraint_samplers::ConstraintSampler::getVerbose ( ) const [inline]

Check if the sampler is set to verbose mode.

Definition at line 264 of file constraint_sampler.h.

bool constraint_samplers::ConstraintSampler::isValid ( ) const [inline]

Returns whether or not the constraint sampler is valid or not. To be valid, the joint model group must be available in the kinematic model and configure() must have successfully been called.

Returns:: True if the sampler is valid, and otherwise false.

Definition at line 258 of file constraint_sampler.h.

bool constraint_samplers::ConstraintSampler::project ( robot_state::RobotState & state ) [inline]

Project a sample given the constraints, updating the joint state group. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to project the sample.

Parameters:

state The state which specifies the state to be projected, according to the constraints. Only values for the group are written. The same state is used as reference if needed.

Returns:: True if a sample was successfully projected, false otherwise

Definition at line 218 of file constraint_sampler.h.

virtual bool constraint_samplers::ConstraintSampler::project	(	robot_state::RobotState &	state,
		unsigned int	max_attempts
	)		`[pure virtual]`

Project a sample given the constraints, updating the joint state group. This function allows the parameter max_attempts to be set.

Parameters:

[out]	state	The state into which the values will be placed. Only values for the group are written.
[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

Implemented in constraint_samplers::IKConstraintSampler, constraint_samplers::UnionConstraintSampler, and constraint_samplers::JointConstraintSampler.

bool constraint_samplers::ConstraintSampler::sample ( robot_state::RobotState & state ) [inline]

Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to take a sample.

Parameters:

state The state into which the values will be placed. Only values for the group are written. The same state is used as reference if needed.

Returns:: True if a sample was successfully taken, false otherwise

Definition at line 171 of file constraint_sampler.h.

bool constraint_samplers::ConstraintSampler::sample	(	robot_state::RobotState &	state,
		unsigned int	max_attempts
	)		`[inline]`

Samples given the constraints, populating state. This function allows the parameter max_attempts to be set.

Parameters:

	state	The state into which the values will be placed. Only values for the group are written. The same state is used as reference if needed.
[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 taken, false otherwise

Definition at line 188 of file constraint_sampler.h.

bool constraint_samplers::ConstraintSampler::sample	(	robot_state::RobotState &	state,
		const robot_state::RobotState &	reference_state
	)		`[inline]`

Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to take a sample.

Parameters:

[out]	state	The state into which the values will be placed. Only values for the group are written.
[in]	reference_state	Reference state that will be used to do transforms or perform other actions

Returns:: True if a sample was successfully taken, false otherwise

Definition at line 203 of file constraint_sampler.h.

virtual bool constraint_samplers::ConstraintSampler::sample	(	robot_state::RobotState &	state,
		const robot_state::RobotState &	reference_state,
		unsigned int	max_attempts
	)		`[pure virtual]`

Samples given the constraints, populating state. This function allows the parameter max_attempts to be set.

Parameters:

[out]	state	The state into which the values will be placed. Only values for the group are written.
[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 taken, false otherwise

Implemented in constraint_samplers::IKConstraintSampler, constraint_samplers::UnionConstraintSampler, and constraint_samplers::JointConstraintSampler.

void constraint_samplers::ConstraintSampler::setGroupStateValidityCallback ( const robot_state::GroupStateValidityCallbackFn & callback ) [inline]

Sets the callback used to determine the state validity during sampling. The sampler will attempt to satisfy this constraint if possible, but there is no guarantee.

Parameters:

callback The callback to set

Definition at line 155 of file constraint_sampler.h.

void constraint_samplers::ConstraintSampler::setVerbose ( bool flag ) [inline]

Enable/disable verbose mode for sampler.

Definition at line 270 of file constraint_sampler.h.

Member Data Documentation

const unsigned int constraint_samplers::ConstraintSampler::DEFAULT_MAX_SAMPLING_ATTEMPTS = 2 [static]

The default value associated with a sampling request. By default if a valid sample cannot be produced in this many attempts, it returns with no sample.

Definition at line 65 of file constraint_sampler.h.

std::vector<std::string> constraint_samplers::ConstraintSampler::frame_depends_ [protected]

Holds the set of frames that must exist in the reference state to allow samples to be drawn.

Definition at line 295 of file constraint_sampler.h.

robot_state::GroupStateValidityCallbackFn constraint_samplers::ConstraintSampler::group_state_validity_callback_ [protected]

Holds the callback for state validity.

Definition at line 296 of file constraint_sampler.h.

bool constraint_samplers::ConstraintSampler::is_valid_ [protected]

Holds the value for validity.

Definition at line 290 of file constraint_sampler.h.

const robot_model::JointModelGroup* constraint_samplers::ConstraintSampler::jmg_ [protected]

Holds the joint model group associated with this constraint.