constraint_sampler.cpp

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/* Author: Ioan Sucan */

#include <moveit/constraint_samplers/constraint_sampler.h>

constraint_samplers::ConstraintSampler::ConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name) :
  is_valid_(false),
  scene_(scene),
  verbose_(false)
{
  jmg_ = scene->getRobotModel()->getJointModelGroup(group_name);
  if (!jmg_)
  {
    logError("A JointModelGroup should have been specified for the constraint sampler");
  }
}

void constraint_samplers::ConstraintSampler::clear()
{
  is_valid_ = false;
  frame_depends_.clear();
}