constraint_sampler_manager.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_MANAGER_
38 #define MOVEIT_CONSTRAINT_SAMPLERS_CONSTRAINT_SAMPLER_MANAGER_
39 
42 
43 namespace constraint_samplers
44 {
45 MOVEIT_CLASS_FORWARD(ConstraintSamplerManager);
46 
58 {
59 public:
65  {
66  }
72  void registerSamplerAllocator(const ConstraintSamplerAllocatorPtr& sa)
73  {
74  sampler_alloc_.push_back(sa);
75  }
92  ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
93  const moveit_msgs::Constraints& constr) const;
94 
138  static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr& scene,
139  const std::string& group_name,
140  const moveit_msgs::Constraints& constr);
141 
142 private:
143  std::vector<ConstraintSamplerAllocatorPtr>
145 };
146 }
147 
148 #endif
std::vector< ConstraintSamplerAllocatorPtr > sampler_alloc_
Holds the constraint sampler allocators, which will be tested in order.
MOVEIT_CLASS_FORWARD(ConstraintSampler)
The constraint samplers namespace contains a number of methods for generating samples based on a cons...
ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr) const
Selects among the potential sampler allocators.
static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::Constraints &constr)
Default logic to select a ConstraintSampler given a constraints message.
void registerSamplerAllocator(const ConstraintSamplerAllocatorPtr &sa)
Allows the user to specify an alternate ConstraintSamplerAllocation.
This class assists in the generation of a ConstraintSampler for a particular group from a moveit_msgs...


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Apr 21 2018 02:54:51