constraint_sampler_tools.cpp
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34 
35 /* Author: Ioan Sucan */
36 
39 
40 void constraint_samplers::visualizeDistribution(const moveit_msgs::Constraints& constr,
41  const planning_scene::PlanningSceneConstPtr& scene,
42  const std::string& group, const std::string& link_name,
43  unsigned int sample_count, visualization_msgs::MarkerArray& markers)
44 {
45  visualizeDistribution(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr), scene->getCurrentState(),
46  link_name, sample_count, markers);
47 }
48 
49 double constraint_samplers::countSamplesPerSecond(const moveit_msgs::Constraints& constr,
50  const planning_scene::PlanningSceneConstPtr& scene,
51  const std::string& group)
52 {
53  return countSamplesPerSecond(ConstraintSamplerManager::selectDefaultSampler(scene, group, constr),
54  scene->getCurrentState());
55 }
56 
57 double constraint_samplers::countSamplesPerSecond(const ConstraintSamplerPtr& sampler,
58  const robot_state::RobotState& reference_state)
59 {
60  if (!sampler)
61  {
62  ROS_ERROR_NAMED("constraint_samplers", "No sampler specified for counting samples per second");
63  return 0.0;
64  }
65  robot_state::RobotState ks(reference_state);
66  unsigned long int valid = 0;
67  unsigned long int total = 0;
69  do
70  {
71  static const unsigned int n = 10;
72  total += n;
73  for (unsigned int i = 0; i < n; ++i)
74  {
75  if (sampler->sample(ks, 1))
76  valid++;
77  }
78  } while (ros::WallTime::now() < end);
79  return (double)valid / (double)total;
80 }
81 
82 void constraint_samplers::visualizeDistribution(const ConstraintSamplerPtr& sampler,
83  const robot_state::RobotState& reference_state,
84  const std::string& link_name, unsigned int sample_count,
85  visualization_msgs::MarkerArray& markers)
86 {
87  if (!sampler)
88  {
89  ROS_ERROR_NAMED("constraint_samplers", "No sampler specified for visualizing distribution of samples");
90  return;
91  }
92  const robot_state::LinkModel* lm = reference_state.getLinkModel(link_name);
93  if (!lm)
94  return;
95  robot_state::RobotState ks(reference_state);
96  std_msgs::ColorRGBA color;
97  color.r = 1.0f;
98  color.g = 0.0f;
99  color.b = 0.0f;
100  color.a = 1.0f;
101  for (unsigned int i = 0; i < sample_count; ++i)
102  {
103  if (!sampler->sample(ks))
104  continue;
105  const Eigen::Vector3d& pos = ks.getGlobalLinkTransform(lm).translation();
106  visualization_msgs::Marker mk;
107  mk.header.stamp = ros::Time::now();
108  mk.header.frame_id = sampler->getJointModelGroup()->getParentModel().getModelFrame();
109  mk.ns = "constraint_samples";
110  mk.id = i;
111  mk.type = visualization_msgs::Marker::SPHERE;
112  mk.action = visualization_msgs::Marker::ADD;
113  mk.pose.position.x = pos.x();
114  mk.pose.position.y = pos.y();
115  mk.pose.position.z = pos.z();
116  mk.pose.orientation.w = 1.0;
117  mk.scale.x = mk.scale.y = mk.scale.z = 0.035;
118  mk.color = color;
119  mk.lifetime = ros::Duration(30.0);
120  markers.markers.push_back(mk);
121  }
122 }
void visualizeDistribution(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state, const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)
const Eigen::Affine3d & getGlobalLinkTransform(const std::string &link_name)
Definition: robot_state.h:1375
double countSamplesPerSecond(const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state)
static WallTime now()
const LinkModel * getLinkModel(const std::string &link) const
Get the model of a particular link.
Definition: robot_state.h:156
#define ROS_ERROR_NAMED(name,...)
static Time now()
Representation of a robot&#39;s state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123
A link from the robot. Contains the constant transform applied to the link and its geometry...
Definition: link_model.h:72


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Wed Jul 18 2018 02:48:31