pr2_constraint_sampler.cpp

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/* Author: Ioan Sucan */

#include <moveit/constraint_samplers/constraint_sampler_allocator.h>
#include <pluginlib/class_list_macros.h>

namespace pr2_constraint_sampler
{

// define the actual sampler
class PR2ConstraintSampler : public constraint_samplers::ConstraintSampler
{
public:

  PR2ConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name) : constraint_samplers::ConstraintSampler(scene, group_name)
  {
  }

  virtual bool configure(const moveit_msgs::Constraints &constr)
  {
    return false;
  }

  virtual bool sample(planning_models::RobotState *::JointStateGroup *jsg, const planning_models::RobotState& reference_state, unsigned int max_attempts)
  {
    return false;
  }

};

// define the sampler allocator plugin interface
class PR2ConstraintSamplerAllocator : public constraint_samplers::ConstraintSamplerAllocator
{
public:

  virtual constraint_samplers::ConstraintSamplerPtr alloc(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr)
  {
    constraint_samplers::ConstraintSamplerPtr cs(new PR2ConstraintSampler(scene, group_name));
    cs->configure(constr);
    return cs;
  }

  virtual bool canService(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr) const
  {
    return false;
  }

};

}

PLUGINLIB_EXPORT_CLASS(pr2_constraint_sampler::PR2ConstraintSamplerAllocator,
                       constraint_samplers::ConstraintSamplerAllocator);