constraint_approximations.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINT_APPROXIMATION_
00038 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINT_APPROXIMATION_
00039 
00040 #include <moveit/macros/declare_ptr.h>
00041 #include <planning_scene/planning_scene.h>
00042 #include <kinematic_constraints/kinematic_constraint.h>
00043 #include <ompl/base/StateStorage.h>
00044 #include <visualization_msgs/MarkerArray.h>
00045 #include <boost/function.hpp>
00046 
00047 namespace ompl_interface
00048 {
00049 typedef ompl::base::StateStorageWithMetadata<std::vector<std::size_t> > ConstraintApproximationStateStorage;
00050 typedef boost::function<bool(const ompl::base::State*, const ompl::base::State*)> ConstraintStateStorageOrderFn;
00051 
00052 struct ConstraintApproximation
00053 {
00054   ConstraintApproximation(const planning_models::RobotModelConstPtr& kinematic_model, const std::string& group,
00055                           const std::string& factory, const std::string& serialization, const std::string& filename,
00056                           const ompl::base::StateStoragePtr& storage);
00057   ConstraintApproximation(const planning_models::RobotModelConstPtr& kinematic_model, const std::string& group,
00058                           const std::string& factory, const moveit_msgs::Constraints& msg, const std::string& filename,
00059                           const ompl::base::StateStoragePtr& storage);
00060 
00061   void visualizeDistribution(const std::string& link_name, unsigned int count,
00062                              visualization_msgs::MarkerArray& arr) const;
00063 
00064   std::string group_;
00065   std::string factory_;
00066   std::string serialization_;
00067   moveit_msgs::Constraints constraint_msg_;
00068   planning_models::RobotModelConstPtr kmodel_;
00069   kinematic_constraints::KinematicConstraintSetPtr kconstraints_set_;
00070   std::vector<int> space_signature_;
00071 
00072   std::string ompldb_filename_;
00073   ompl::base::StateStoragePtr state_storage_ptr_;
00074   ConstraintApproximationStateStorage* state_storage_;
00075 };
00076 
00077 MOVEIT_DECLARE_PTR(ConstraintApproximations, std::vector<ConstraintApproximation>)
00078 }
00079 
00080 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Tue Dec 26 2017 03:34:12