constrained_valid_state_sampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
00038 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
00039 
00040 #include <ompl/base/StateSampler.h>
00041 #include <ompl/base/ValidStateSampler.h>
00042 #include <moveit/constraint_samplers/constraint_sampler.h>
00043 #include <moveit/macros/class_forward.h>
00044 
00045 namespace ompl_interface
00046 {
00047 class ModelBasedPlanningContext;
00048 
00049 MOVEIT_CLASS_FORWARD(ValidStateSampler);
00050 
00053 class ValidConstrainedSampler : public ompl::base::ValidStateSampler
00054 {
00055 public:
00056   ValidConstrainedSampler(
00057       const ModelBasedPlanningContext* pc, const kinematic_constraints::KinematicConstraintSetPtr& ks,
00058       const constraint_samplers::ConstraintSamplerPtr& cs = constraint_samplers::ConstraintSamplerPtr());
00059 
00060   virtual bool sample(ompl::base::State* state);
00061   virtual bool project(ompl::base::State* state);
00062   virtual bool sampleNear(ompl::base::State* state, const ompl::base::State* near, const double distance);
00063 
00064 private:
00065   const ModelBasedPlanningContext* planning_context_;
00066   kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_;
00067   constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
00068   ompl::base::StateSamplerPtr default_sampler_;
00069   robot_state::RobotState work_state_;
00070   double inv_dim_;
00071   ompl::RNG rng_;
00072 };
00073 }
00074 
00075 #endif


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