00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_MANAGER_ 00038 #define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_MANAGER_ 00039 00040 #include <moveit/constraint_samplers/constraint_sampler_allocator.h> 00041 #include <boost/shared_ptr.hpp> 00042 00043 namespace constraint_samplers 00044 { 00045 00056 class ConstraintSamplerManager 00057 { 00058 public: 00063 ConstraintSamplerManager() 00064 { 00065 } 00071 void registerSamplerAllocator(const ConstraintSamplerAllocatorPtr &sa) 00072 { 00073 sampler_alloc_.push_back(sa); 00074 } 00091 ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr) const; 00092 00130 static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr); 00131 00132 private: 00133 00134 std::vector<ConstraintSamplerAllocatorPtr> sampler_alloc_; 00135 }; 00136 00137 MOVEIT_CLASS_FORWARD(ConstraintSamplerManager); 00138 00139 } 00140 00141 00142 #endif