Public Member Functions | Private Member Functions | Private Attributes
ompl_interface::ConstrainedGoalSampler Class Reference

#include <constrained_goal_sampler.h>

List of all members.

Public Member Functions

 ConstrainedGoalSampler (const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks, const constraint_samplers::ConstraintSamplerPtr &cs=constraint_samplers::ConstraintSamplerPtr())

Private Member Functions

bool checkStateValidity (ompl::base::State *new_goal, const robot_state::RobotState &state, bool verbose=false) const
bool sampleUsingConstraintSampler (const ompl::base::GoalLazySamples *gls, ompl::base::State *new_goal)
bool stateValidityCallback (ompl::base::State *new_goal, robot_state::RobotState const *state, const robot_model::JointModelGroup *, const double *, bool verbose=false) const

Private Attributes

constraint_samplers::ConstraintSamplerPtr constraint_sampler_
ompl::base::StateSamplerPtr default_sampler_
unsigned int invalid_sampled_constraints_
kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_
const ModelBasedPlanningContextplanning_context_
unsigned int verbose_display_
bool warned_invalid_samples_
robot_state::RobotState work_state_

Detailed Description

An interface to the OMPL goal lazy sampler

Definition at line 53 of file constrained_goal_sampler.h.


Constructor & Destructor Documentation

ompl_interface::ConstrainedGoalSampler::ConstrainedGoalSampler ( const ModelBasedPlanningContext pc,
const kinematic_constraints::KinematicConstraintSetPtr &  ks,
const constraint_samplers::ConstraintSamplerPtr &  cs = constraint_samplers::ConstraintSamplerPtr() 
)

Definition at line 42 of file constrained_goal_sampler.cpp.


Member Function Documentation

bool ompl_interface::ConstrainedGoalSampler::checkStateValidity ( ompl::base::State *  new_goal,
const robot_state::RobotState &  state,
bool  verbose = false 
) const [private]

Definition at line 61 of file constrained_goal_sampler.cpp.

bool ompl_interface::ConstrainedGoalSampler::sampleUsingConstraintSampler ( const ompl::base::GoalLazySamples *  gls,
ompl::base::State *  new_goal 
) [private]

Definition at line 81 of file constrained_goal_sampler.cpp.

bool ompl_interface::ConstrainedGoalSampler::stateValidityCallback ( ompl::base::State *  new_goal,
robot_state::RobotState const *  state,
const robot_model::JointModelGroup *  ,
const double *  ,
bool  verbose = false 
) const [private]

Definition at line 69 of file constrained_goal_sampler.cpp.


Member Data Documentation

constraint_samplers::ConstraintSamplerPtr ompl_interface::ConstrainedGoalSampler::constraint_sampler_ [private]

Definition at line 69 of file constrained_goal_sampler.h.

ompl::base::StateSamplerPtr ompl_interface::ConstrainedGoalSampler::default_sampler_ [private]

Definition at line 70 of file constrained_goal_sampler.h.

Definition at line 72 of file constrained_goal_sampler.h.

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ConstrainedGoalSampler::kinematic_constraint_set_ [private]

Definition at line 68 of file constrained_goal_sampler.h.

Definition at line 67 of file constrained_goal_sampler.h.

Definition at line 74 of file constrained_goal_sampler.h.

Definition at line 73 of file constrained_goal_sampler.h.

robot_state::RobotState ompl_interface::ConstrainedGoalSampler::work_state_ [private]

Definition at line 71 of file constrained_goal_sampler.h.


The documentation for this class was generated from the following files:


ompl
Author(s): Ioan Sucan
autogenerated on Mon Apr 23 2018 10:25:27