#include <constraints_library.h>

Public Member Functions
	ConstraintApproximation (const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory, const std::string &serialization, const std::string &filename, const ompl::base::StateStoragePtr &storage)
	ConstraintApproximation (const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory, const moveit_msgs::Constraints &msg, const std::string &filename, const ompl::base::StateStoragePtr &storage)
	ConstraintApproximation (const std::string &group, const std::string &state_space_parameterization, bool explicit_motions, const moveit_msgs::Constraints &msg, const std::string &filename, const ompl::base::StateStoragePtr &storage, std::size_t milestones=0)
const moveit_msgs::Constraints &	getConstraintsMsg () const
const std::string &	getFilename () const
const std::string &	getGroup () const
InterpolationFunction	getInterpolationFunction () const
std::size_t	getMilestoneCount () const
const std::string &	getName () const
const std::vector< int > &	getSpaceSignature () const
ompl::base::StateSamplerAllocator	getStateSamplerAllocator (const moveit_msgs::Constraints &msg) const
const std::string &	getStateSpaceParameterization () const
const ompl::base::StateStoragePtr &	getStateStorage () const
bool	hasExplicitMotions () const
void	visualizeDistribution (const std::string &link_name, unsigned int count, visualization_msgs::MarkerArray &arr) const
virtual	~ConstraintApproximation ()
Public Attributes
std::string	factory_
kinematic_constraints::KinematicConstraintSetPtr	kconstraints_set_
planning_models::RobotModelConstPtr	kmodel_
std::string	serialization_
Protected Attributes
moveit_msgs::Constraints	constraint_msg_
bool	explicit_motions_
std::string	group_
std::size_t	milestones_
std::string	ompldb_filename_
std::vector< int >	space_signature_
std::string	state_space_parameterization_
ConstraintApproximationStateStorage *	state_storage_
ompl::base::StateStoragePtr	state_storage_ptr_

Detailed Description

Definition at line 55 of file constraints_library.h.

Constructor & Destructor Documentation

ompl_interface::ConstraintApproximation::ConstraintApproximation	(	const std::string &	group,
		const std::string &	state_space_parameterization,
		bool	explicit_motions,
		const moveit_msgs::Constraints &	msg,
		const std::string &	filename,
		const ompl::base::StateStoragePtr &	storage,
		std::size_t	milestones = `0`
	)

Definition at line 201 of file constraints_library.cpp.

virtual ompl_interface::ConstraintApproximation::~ConstraintApproximation ( ) [inline, virtual]

Definition at line 62 of file constraints_library.h.

ompl_interface::ConstraintApproximation::ConstraintApproximation	(	const planning_models::RobotModelConstPtr &	kinematic_model,
		const std::string &	group,
		const std::string &	factory,
		const std::string &	serialization,
		const std::string &	filename,
		const ompl::base::StateStoragePtr &	storage
	)

ompl_interface::ConstraintApproximation::ConstraintApproximation	(	const planning_models::RobotModelConstPtr &	kinematic_model,
		const std::string &	group,
		const std::string &	factory,
		const moveit_msgs::Constraints &	msg,
		const std::string &	filename,
		const ompl::base::StateStoragePtr &	storage
	)

Member Function Documentation

const moveit_msgs::Constraints& ompl_interface::ConstraintApproximation::getConstraintsMsg ( ) const [inline]

Definition at line 100 of file constraints_library.h.

const std::string& ompl_interface::ConstraintApproximation::getFilename ( ) const [inline]

Definition at line 110 of file constraints_library.h.

const std::string& ompl_interface::ConstraintApproximation::getGroup ( ) const [inline]

Definition at line 80 of file constraints_library.h.

ompl_interface::InterpolationFunction ompl_interface::ConstraintApproximation::getInterpolationFunction ( ) const

Definition at line 181 of file constraints_library.cpp.

std::size_t ompl_interface::ConstraintApproximation::getMilestoneCount ( ) const [inline]

Definition at line 90 of file constraints_library.h.

const std::string& ompl_interface::ConstraintApproximation::getName ( ) const [inline]

Definition at line 66 of file constraints_library.h.

const std::vector<int>& ompl_interface::ConstraintApproximation::getSpaceSignature ( ) const [inline]

Definition at line 75 of file constraints_library.h.

ompl::base::StateSamplerAllocator ompl_interface::ConstraintApproximation::getStateSamplerAllocator ( const moveit_msgs::Constraints & msg ) const

Definition at line 220 of file constraints_library.cpp.

const std::string& ompl_interface::ConstraintApproximation::getStateSpaceParameterization ( ) const [inline]

Definition at line 95 of file constraints_library.h.

const ompl::base::StateStoragePtr& ompl_interface::ConstraintApproximation::getStateStorage ( ) const [inline]

Definition at line 105 of file constraints_library.h.

bool ompl_interface::ConstraintApproximation::hasExplicitMotions ( ) const [inline]

Definition at line 85 of file constraints_library.h.

void ompl_interface::ConstraintApproximation::visualizeDistribution	(	const std::string &	link_name,
		unsigned int	count,
		visualization_msgs::MarkerArray &	arr
	)		const