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,
00041                                                 const planning_scene::PlanningSceneConstPtr& scene,
00042                                                 const std::string& group, const std::string& link_name,
00043                                                 unsigned int sample_count, visualization_msgs::MarkerArray& markers)
00044 {
00045   visualizeDistribution(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr), scene->getCurrentState(),
00046                         link_name, sample_count, markers);
00047 }
00048 
00049 double constraint_samplers::countSamplesPerSecond(const moveit_msgs::Constraints& constr,
00050                                                   const planning_scene::PlanningSceneConstPtr& scene,
00051                                                   const std::string& group)
00052 {
00053   return countSamplesPerSecond(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr),
00054                                scene->getCurrentState());
00055 }
00056 
00057 double constraint_samplers::countSamplesPerSecond(const ConstraintSamplerPtr& sampler,
00058                                                   const robot_state::RobotState& reference_state)
00059 {
00060   if (!sampler)
00061   {
00062     logError("No sampler specified for counting samples per second");
00063     return 0.0;
00064   }
00065   robot_state::RobotState ks(reference_state);
00066   unsigned long int valid = 0;
00067   unsigned long int total = 0;
00068   ros::WallTime end = ros::WallTime::now() + ros::WallDuration(1.0);
00069   do
00070   {
00071     static const unsigned int n = 10;
00072     total += n;
00073     for (unsigned int i = 0; i < n; ++i)
00074     {
00075       if (sampler->sample(ks, 1))
00076         valid++;
00077     }
00078   } while (ros::WallTime::now() < end);
00079   return (double)valid / (double)total;
00080 }
00081 
00082 void constraint_samplers::visualizeDistribution(const ConstraintSamplerPtr& sampler,
00083                                                 const robot_state::RobotState& reference_state,
00084                                                 const std::string& link_name, unsigned int sample_count,
00085                                                 visualization_msgs::MarkerArray& markers)
00086 {
00087   if (!sampler)
00088   {
00089     logError("No sampler specified for visualizing distribution of samples");
00090     return;
00091   }
00092   const robot_state::LinkModel* lm = reference_state.getLinkModel(link_name);
00093   if (!lm)
00094     return;
00095   robot_state::RobotState ks(reference_state);
00096   std_msgs::ColorRGBA color;
00097   color.r = 1.0f;
00098   color.g = 0.0f;
00099   color.b = 0.0f;
00100   color.a = 1.0f;
00101   for (unsigned int i = 0; i < sample_count; ++i)
00102   {
00103     if (!sampler->sample(ks))
00104       continue;
00105     const Eigen::Vector3d& pos = ks.getGlobalLinkTransform(lm).translation();
00106     visualization_msgs::Marker mk;
00107     mk.header.stamp = ros::Time::now();
00108     mk.header.frame_id = sampler->getJointModelGroup()->getParentModel().getModelFrame();
00109     mk.ns = "constraint_samples";
00110     mk.id = i;
00111     mk.type = visualization_msgs::Marker::SPHERE;
00112     mk.action = visualization_msgs::Marker::ADD;
00113     mk.pose.position.x = pos.x();
00114     mk.pose.position.y = pos.y();
00115     mk.pose.position.z = pos.z();
00116     mk.pose.orientation.w = 1.0;
00117     mk.scale.x = mk.scale.y = mk.scale.z = 0.035;
00118     mk.color = color;
00119     mk.lifetime = ros::Duration(30.0);
00120     markers.markers.push_back(mk);
00121   }
00122 }


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