constrained_goal_sampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_GOAL_SAMPLER_
00038 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_GOAL_SAMPLER_
00039 
00040 #include <ompl/base/goals/GoalLazySamples.h>
00041 #include <moveit/kinematic_constraints/kinematic_constraint.h>
00042 #include <moveit/constraint_samplers/constraint_sampler.h>
00043 
00044 #include <moveit/robot_state/robot_state.h>
00045 #include <moveit/robot_model/joint_model_group.h>
00046 
00047 namespace ompl_interface
00048 {
00049 class ModelBasedPlanningContext;
00050 
00053 class ConstrainedGoalSampler : public ompl::base::GoalLazySamples
00054 {
00055 public:
00056   ConstrainedGoalSampler(
00057       const ModelBasedPlanningContext* pc, const kinematic_constraints::KinematicConstraintSetPtr& ks,
00058       const constraint_samplers::ConstraintSamplerPtr& cs = constraint_samplers::ConstraintSamplerPtr());
00059 
00060 private:
00061   bool sampleUsingConstraintSampler(const ompl::base::GoalLazySamples* gls, ompl::base::State* new_goal);
00062   bool stateValidityCallback(ompl::base::State* new_goal, robot_state::RobotState const* state,
00063                              const robot_model::JointModelGroup*, const double*, bool verbose = false) const;
00064   bool checkStateValidity(ompl::base::State* new_goal, const robot_state::RobotState& state,
00065                           bool verbose = false) const;
00066 
00067   const ModelBasedPlanningContext* planning_context_;
00068   kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_;
00069   constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
00070   ompl::base::StateSamplerPtr default_sampler_;
00071   robot_state::RobotState work_state_;
00072   unsigned int invalid_sampled_constraints_;
00073   bool warned_invalid_samples_;
00074   unsigned int verbose_display_;
00075 };
00076 }
00077 
00078 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Mon Apr 23 2018 10:25:26