model_based_state_space_factory.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_FACTORY_
00038 #define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_FACTORY_
00039 
00040 #include <moveit/macros/class_forward.h>
00041 #include <moveit/ompl_interface/parameterization/model_based_state_space.h>
00042 #include <moveit_msgs/MotionPlanRequest.h>
00043 
00044 namespace ompl_interface
00045 {
00046 MOVEIT_CLASS_FORWARD(ModelBasedStateSpaceFactory);
00047 
00048 class ModelBasedStateSpaceFactory
00049 {
00050 public:
00051   ModelBasedStateSpaceFactory()
00052   {
00053   }
00054 
00055   virtual ~ModelBasedStateSpaceFactory()
00056   {
00057   }
00058 
00059   ModelBasedStateSpacePtr getNewStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const;
00060 
00061   const std::string& getType() const
00062   {
00063     return type_;
00064   }
00065 
00070   virtual int canRepresentProblem(const std::string& group, const moveit_msgs::MotionPlanRequest& req,
00071                                   const robot_model::RobotModelConstPtr& kmodel) const = 0;
00072 
00073 protected:
00074   virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const = 0;
00075   std::string type_;
00076 };
00077 }
00078 
00079 #endif


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