constrained_sampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_SAMPLER_
00038 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_SAMPLER_
00039 
00040 #include <ompl/base/StateSampler.h>
00041 #include <moveit/constraint_samplers/constraint_sampler.h>
00042 
00043 namespace ompl_interface
00044 {
00045 class ModelBasedPlanningContext;
00046 
00049 class ConstrainedSampler : public ompl::base::StateSampler
00050 {
00051 public:
00056   ConstrainedSampler(const ModelBasedPlanningContext* pc, const constraint_samplers::ConstraintSamplerPtr& cs);
00057 
00059   virtual void sampleUniform(ompl::base::State* state);
00060 
00062   virtual void sampleUniformNear(ompl::base::State* state, const ompl::base::State* near, const double distance);
00063 
00065   virtual void sampleGaussian(ompl::base::State* state, const ompl::base::State* mean, const double stdDev);
00066 
00067   double getConstrainedSamplingRate() const;
00068 
00069 private:
00070   bool sampleC(ompl::base::State* state);
00071 
00072   const ModelBasedPlanningContext* planning_context_;
00073   ompl::base::StateSamplerPtr default_;
00074   constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
00075   robot_state::RobotState work_state_;
00076   unsigned int constrained_success_;
00077   unsigned int constrained_failure_;
00078   double inv_dim_;
00079 };
00080 }
00081 
00082 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Wed Jan 17 2018 03:32:20