constraint_sampler_manager.h
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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 <moveit/macros/class_forward.h>
00042 
00043 namespace constraint_samplers
00044 {
00045 MOVEIT_CLASS_FORWARD(ConstraintSamplerManager);
00046 
00057 class ConstraintSamplerManager
00058 {
00059 public:
00064   ConstraintSamplerManager()
00065   {
00066   }
00072   void registerSamplerAllocator(const ConstraintSamplerAllocatorPtr& sa)
00073   {
00074     sampler_alloc_.push_back(sa);
00075   }
00092   ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
00093                                      const moveit_msgs::Constraints& constr) const;
00094 
00138   static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr& scene,
00139                                                    const std::string& group_name,
00140                                                    const moveit_msgs::Constraints& constr);
00141 
00142 private:
00143   std::vector<ConstraintSamplerAllocatorPtr>
00144       sampler_alloc_; 
00145 };
00146 }
00147 
00148 #endif


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Mon Apr 23 2018 10:24:45