joint_model_state_space_factory.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include <moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h>
00038 #include <moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h>
00039 
00040 ompl_interface::JointModelStateSpaceFactory::JointModelStateSpaceFactory() : ModelBasedStateSpaceFactory()
00041 {
00042   type_ = JointModelStateSpace::PARAMETERIZATION_TYPE;
00043 }
00044 
00045 int ompl_interface::JointModelStateSpaceFactory::canRepresentProblem(
00046     const std::string& group, const moveit_msgs::MotionPlanRequest& req,
00047     const robot_model::RobotModelConstPtr& kmodel) const
00048 {
00049   return 100;
00050 }
00051 
00052 ompl_interface::ModelBasedStateSpacePtr
00053 ompl_interface::JointModelStateSpaceFactory::allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const
00054 {
00055   return ModelBasedStateSpacePtr(new JointModelStateSpace(space_spec));
00056 }


ompl
Author(s): Ioan Sucan
autogenerated on Fri Dec 14 2018 03:32:45