constraint_samplers Namespace Reference

The constraint samplers namespace contains a number of methods for generating samples based on a constraint or set of constraints. More...

Classes
class	ConstraintSampler
	ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a particular group of a robot. More...
class	ConstraintSamplerAllocator
class	ConstraintSamplerManager
	This class assists in the generation of a ConstraintSampler for a particular group from a moveit_msgs::Constraints. More...
class	IKConstraintSampler
	A class that allows the sampling of IK constraints. More...
struct	IKSamplingPose
	A structure for potentially holding a position constraint and an orientation constraint for use during Ik Sampling. More...
class	JointConstraintSampler
	JointConstraintSampler is a class that allows the sampling of joints in a particular group of the robot, subject to a set of individual joint constraints. More...
struct	OrderSamplers
class	UnionConstraintSampler
	This class exists as a union of constraint samplers. It contains a vector of constraint samplers, and will sample from each of them. More...
Functions
double	countSamplesPerSecond (const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state)
double	countSamplesPerSecond (const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group)
	MOVEIT_CLASS_FORWARD (ConstraintSamplerManager)
	MOVEIT_CLASS_FORWARD (ConstraintSamplerAllocator)
	MOVEIT_CLASS_FORWARD (JointConstraintSampler)
	MOVEIT_CLASS_FORWARD (ConstraintSampler)
	MOVEIT_CLASS_FORWARD (IKConstraintSampler)
void	visualizeDistribution (const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state, const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)
void	visualizeDistribution (const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group, const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)

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Detailed Description

The constraint samplers namespace contains a number of methods for generating samples based on a constraint or set of constraints.

It intended for use by any algorithm that requires a constraint-aware sampling strategy.

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Function Documentation

double constraint_samplers::countSamplesPerSecond	(	const ConstraintSamplerPtr &	sampler,
		const robot_state::RobotState &	reference_state
	)

Definition at line 57 of file constraint_sampler_tools.cpp.

double constraint_samplers::countSamplesPerSecond	(	const moveit_msgs::Constraints &	constr,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group
	)

Definition at line 49 of file constraint_sampler_tools.cpp.

constraint_samplers::MOVEIT_CLASS_FORWARD

(

ConstraintSamplerManager

)

constraint_samplers::MOVEIT_CLASS_FORWARD

(

ConstraintSamplerAllocator

)

constraint_samplers::MOVEIT_CLASS_FORWARD

(

JointConstraintSampler

)

constraint_samplers::MOVEIT_CLASS_FORWARD

(

ConstraintSampler

)

constraint_samplers::MOVEIT_CLASS_FORWARD

(

IKConstraintSampler

)

void constraint_samplers::visualizeDistribution	(	const ConstraintSamplerPtr &	sampler,
		const robot_state::RobotState &	reference_state,
		const std::string &	link_name,
		unsigned int	sample_count,
		visualization_msgs::MarkerArray &	markers
	)

Definition at line 82 of file constraint_sampler_tools.cpp.

void constraint_samplers::visualizeDistribution	(	const moveit_msgs::Constraints &	constr,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group,
		const std::string &	link_name,
		unsigned int	sample_count,
		visualization_msgs::MarkerArray &	markers
	)

Definition at line 40 of file constraint_sampler_tools.cpp.