union_constraint_sampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
00038 #define MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
00039 
00040 #include <moveit/constraint_samplers/constraint_sampler.h>
00041 
00042 namespace constraint_samplers
00043 {
00057 class UnionConstraintSampler : public ConstraintSampler
00058 {
00059 public:
00098   UnionConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
00099                          const std::vector<ConstraintSamplerPtr>& samplers);
00100 
00107   const std::vector<ConstraintSamplerPtr>& getSamplers() const
00108   {
00109     return samplers_;
00110   }
00111 
00120   virtual bool configure(const moveit_msgs::Constraints& constr)
00121   {
00122     return true;
00123   }
00124 
00132   virtual bool canService(const moveit_msgs::Constraints& constr) const
00133   {
00134     return true;
00135   }
00136 
00152   virtual bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
00153                       unsigned int max_attempts);
00154 
00155   virtual bool project(robot_state::RobotState& state, unsigned int max_attempts);
00156 
00162   virtual const std::string& getName() const
00163   {
00164     static const std::string SAMPLER_NAME = "UnionConstraintSampler";
00165     return SAMPLER_NAME;
00166   }
00167 
00168 protected:
00169   std::vector<ConstraintSamplerPtr> samplers_; 
00170 };
00171 }
00172 
00173 #endif


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