constraint_sampler_tools.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/constraint_samplers/constraint_sampler_tools.h>
00038 #include <moveit/constraint_samplers/constraint_sampler_manager.h>
00039 
00040 void constraint_samplers::visualizeDistribution(const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group,
00041                                                 const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)
00042 {
00043   visualizeDistribution(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr), scene->getCurrentState(), link_name, sample_count, markers);
00044 }
00045 
00046 
00047 double constraint_samplers::countSamplesPerSecond(const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group)
00048 {
00049   return countSamplesPerSecond(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr), scene->getCurrentState());
00050 }
00051 
00052 double constraint_samplers::countSamplesPerSecond(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state)
00053 {
00054   if (!sampler)
00055   {
00056     logError("No sampler specified for counting samples per second");
00057     return 0.0;
00058   }
00059   robot_state::RobotState ks(reference_state);
00060   unsigned long int valid = 0;
00061   unsigned long int total = 0;
00062   ros::WallTime end = ros::WallTime::now() + ros::WallDuration(1.0);
00063   do
00064   {
00065     static const unsigned int n = 10;
00066     total += n;
00067     for (unsigned int i = 0 ; i < n ; ++i)
00068     {
00069       if (sampler->sample(ks, 1))
00070         valid++;
00071     }
00072   }
00073   while (ros::WallTime::now() < end);
00074   return (double)valid / (double)total;
00075 }
00076 
00077 void constraint_samplers::visualizeDistribution(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state,
00078                                                 const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)
00079 {
00080   if (!sampler)
00081   {
00082     logError("No sampler specified for visualizing distribution of samples");
00083     return;
00084   }
00085   const robot_state::LinkModel *lm = reference_state.getLinkModel(link_name);
00086   if (!lm)
00087     return;
00088   robot_state::RobotState ks(reference_state);
00089   std_msgs::ColorRGBA color;
00090   color.r = 1.0f;
00091   color.g = 0.0f;
00092   color.b = 0.0f;
00093   color.a = 1.0f;
00094   for (unsigned int i = 0 ; i < sample_count ; ++i)
00095   {
00096     if (!sampler->sample(ks))
00097       continue;
00098     const Eigen::Vector3d &pos = ks.getGlobalLinkTransform(lm).translation();
00099     visualization_msgs::Marker mk;
00100     mk.header.stamp = ros::Time::now();
00101     mk.header.frame_id = sampler->getJointModelGroup()->getParentModel().getModelFrame();
00102     mk.ns = "constraint_samples";
00103     mk.id = i;
00104     mk.type = visualization_msgs::Marker::SPHERE;
00105     mk.action = visualization_msgs::Marker::ADD;
00106     mk.pose.position.x = pos.x();
00107     mk.pose.position.y = pos.y();
00108     mk.pose.position.z = pos.z();
00109     mk.pose.orientation.w = 1.0;
00110     mk.scale.x = mk.scale.y = mk.scale.z = 0.035;
00111     mk.color = color;
00112     mk.lifetime = ros::Duration(30.0);
00113     markers.markers.push_back(mk);
00114   }
00115 }


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Thu Aug 27 2015 13:58:52