constrained_valid_state_sampler.h
Go to the documentation of this file.
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2011, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
00038 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
00039 
00040 #include <ompl/base/StateSampler.h>
00041 #include <ompl/base/ValidStateSampler.h>
00042 #include <moveit/constraint_samplers/constraint_sampler.h>
00043 #include <moveit/macros/class_forward.h>
00044 
00045 namespace ompl_interface
00046 {
00047 class ModelBasedPlanningContext;
00048 
00049 MOVEIT_CLASS_FORWARD(ValidStateSampler);
00050 
00053 class ValidConstrainedSampler : public ompl::base::ValidStateSampler
00054 {
00055 public:
00056   ValidConstrainedSampler(
00057       const ModelBasedPlanningContext* pc, const kinematic_constraints::KinematicConstraintSetPtr& ks,
00058       const constraint_samplers::ConstraintSamplerPtr& cs = constraint_samplers::ConstraintSamplerPtr());
00059 
00060   virtual bool sample(ompl::base::State* state);
00061   virtual bool project(ompl::base::State* state);
00062   virtual bool sampleNear(ompl::base::State* state, const ompl::base::State* near, const double distance);
00063 
00064 private:
00065   const ModelBasedPlanningContext* planning_context_;
00066   kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_;
00067   constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
00068   ompl::base::StateSamplerPtr default_sampler_;
00069   robot_state::RobotState work_state_;
00070   double inv_dim_;
00071   ompl::RNG rng_;
00072 };
00073 }
00074 
00075 #endif


ompl
Author(s): Ioan Sucan
autogenerated on Mon Jul 24 2017 02:21:33