constraint_sampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_
00038 #define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_
00039 
00040 #include <moveit/planning_scene/planning_scene.h>
00041 #include <moveit/kinematic_constraints/kinematic_constraint.h>
00042 #include <vector>
00043 
00052 namespace constraint_samplers
00053 {
00054 MOVEIT_CLASS_FORWARD(ConstraintSampler);
00055 
00060 class ConstraintSampler
00061 {
00062 public:
00065   static const unsigned int DEFAULT_MAX_SAMPLING_ATTEMPTS = 2;
00066 
00076   ConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name);
00077 
00078   virtual ~ConstraintSampler()
00079   {
00080   }
00081 
00090   virtual bool configure(const moveit_msgs::Constraints& constr) = 0;
00091 
00097   const std::string& getGroupName() const
00098   {
00099     return getJointModelGroup()->getName();
00100   }
00101 
00108   const robot_model::JointModelGroup* getJointModelGroup() const
00109   {
00110     return jmg_;
00111   }
00112 
00119   const planning_scene::PlanningSceneConstPtr& getPlanningScene() const
00120   {
00121     return scene_;
00122   }
00123 
00135   const std::vector<std::string>& getFrameDependency() const
00136   {
00137     return frame_depends_;
00138   }
00139 
00144   const robot_state::GroupStateValidityCallbackFn& getGroupStateValidityCallback() const
00145   {
00146     return group_state_validity_callback_;
00147   }
00148 
00155   void setGroupStateValidityCallback(const robot_state::GroupStateValidityCallbackFn& callback)
00156   {
00157     group_state_validity_callback_ = callback;
00158   }
00159 
00170   bool sample(robot_state::RobotState& state)
00171   {
00172     return sample(state, state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
00173   }
00174 
00186   bool sample(robot_state::RobotState& state, unsigned int max_attempts)
00187   {
00188     return sample(state, state, max_attempts);
00189   }
00190 
00201   bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state)
00202   {
00203     return sample(state, reference_state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
00204   }
00205 
00216   bool project(robot_state::RobotState& state)
00217   {
00218     return project(state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
00219   }
00220 
00232   virtual bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
00233                       unsigned int max_attempts) = 0;
00234 
00246   virtual bool project(robot_state::RobotState& state, unsigned int max_attempts) = 0;
00247 
00255   bool isValid() const
00256   {
00257     return is_valid_;
00258   }
00259 
00261   bool getVerbose() const
00262   {
00263     return verbose_;
00264   }
00265 
00267   virtual void setVerbose(bool verbose)
00268   {
00269     verbose_ = verbose;
00270   }
00271 
00277   virtual const std::string& getName() const = 0;
00278 
00279 protected:
00284   virtual void clear();
00285 
00286   bool is_valid_; 
00288   planning_scene::PlanningSceneConstPtr scene_; 
00289   const robot_model::JointModelGroup* jmg_; 
00291   std::vector<std::string> frame_depends_;
00292   robot_state::GroupStateValidityCallbackFn group_state_validity_callback_; 
00294   bool verbose_;                                                            
00295 };
00296 }
00297 
00298 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Tue Dec 26 2017 03:33:16