union_constraint_sampler.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
#define MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_

#include <moveit/constraint_samplers/constraint_sampler.h>

namespace constraint_samplers
{
class UnionConstraintSampler : public ConstraintSampler
{
public:
  UnionConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
                         const std::vector<ConstraintSamplerPtr>& samplers);

  const std::vector<ConstraintSamplerPtr>& getSamplers() const
  {
    return samplers_;
  }

  virtual bool configure(const moveit_msgs::Constraints& constr)
  {
    return true;
  }

  virtual bool canService(const moveit_msgs::Constraints& constr) const
  {
    return true;
  }

  virtual bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
                      unsigned int max_attempts);

  virtual bool project(robot_state::RobotState& state, unsigned int max_attempts);

  virtual const std::string& getName() const
  {
    static const std::string SAMPLER_NAME = "UnionConstraintSampler";
    return SAMPLER_NAME;
  }

protected:
  std::vector<ConstraintSamplerPtr> samplers_; 
};
}

#endif