projection_evaluators.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_PROJECTION_EVALUATORS_
#define MOVEIT_OMPL_INTERFACE_DETAIL_PROJECTION_EVALUATORS_

#include <ompl/base/ProjectionEvaluator.h>
#include <moveit/ompl_interface/detail/threadsafe_state_storage.h>

namespace ompl_interface
{
class ModelBasedPlanningContext;

class ProjectionEvaluatorLinkPose : public ompl::base::ProjectionEvaluator
{
public:
  ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext* pc, const std::string& link);

  virtual unsigned int getDimension() const;
  virtual void defaultCellSizes();
  virtual void project(const ompl::base::State* state, ompl::base::EuclideanProjection& projection) const;

private:
  const ModelBasedPlanningContext* planning_context_;
  const robot_model::LinkModel* link_;
  TSStateStorage tss_;
};

class ProjectionEvaluatorJointValue : public ompl::base::ProjectionEvaluator
{
public:
  ProjectionEvaluatorJointValue(const ModelBasedPlanningContext* pc, const std::vector<unsigned int>& variables);

  virtual unsigned int getDimension() const;
  virtual void defaultCellSizes();
  virtual void project(const ompl::base::State* state, ompl::base::EuclideanProjection& projection) const;

private:
  const ModelBasedPlanningContext* planning_context_;
  std::vector<unsigned int> variables_;
};
}

#endif