projection_evaluators.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_PROJECTION_EVALUATORS_
00038 #define MOVEIT_OMPL_INTERFACE_DETAIL_PROJECTION_EVALUATORS_
00039 
00040 #include <ompl/base/ProjectionEvaluator.h>
00041 #include <moveit/ompl_interface/detail/threadsafe_state_storage.h>
00042 
00043 namespace ompl_interface
00044 {
00045 class ModelBasedPlanningContext;
00046 
00049 class ProjectionEvaluatorLinkPose : public ompl::base::ProjectionEvaluator
00050 {
00051 public:
00052   ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext* pc, const std::string& link);
00053 
00054   virtual unsigned int getDimension() const;
00055   virtual void defaultCellSizes();
00056   virtual void project(const ompl::base::State* state, ompl::base::EuclideanProjection& projection) const;
00057 
00058 private:
00059   const ModelBasedPlanningContext* planning_context_;
00060   const robot_model::LinkModel* link_;
00061   TSStateStorage tss_;
00062 };
00063 
00066 class ProjectionEvaluatorJointValue : public ompl::base::ProjectionEvaluator
00067 {
00068 public:
00069   ProjectionEvaluatorJointValue(const ModelBasedPlanningContext* pc, const std::vector<unsigned int>& variables);
00070 
00071   virtual unsigned int getDimension() const;
00072   virtual void defaultCellSizes();
00073   virtual void project(const ompl::base::State* state, ompl::base::EuclideanProjection& projection) const;
00074 
00075 private:
00076   const ModelBasedPlanningContext* planning_context_;
00077   std::vector<unsigned int> variables_;
00078 };
00079 }
00080 
00081 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Mon Apr 23 2018 10:25:27