Classes | Functions
constraint_samplers Namespace Reference

The constraint samplers namespace contains a number of methods for generating samples based on a constraint or set of constraints. More...

Classes

class  ConstraintSampler
 ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a particular group of a robot. More...
 
class  ConstraintSamplerAllocator
 
class  ConstraintSamplerManager
 This class assists in the generation of a ConstraintSampler for a particular group from a moveit_msgs::Constraints. More...
 
class  IKConstraintSampler
 A class that allows the sampling of IK constraints. More...
 
struct  IKSamplingPose
 A structure for potentially holding a position constraint and an orientation constraint for use during Ik Sampling. More...
 
class  JointConstraintSampler
 JointConstraintSampler is a class that allows the sampling of joints in a particular group of the robot, subject to a set of individual joint constraints. More...
 
struct  OrderSamplers
 
class  UnionConstraintSampler
 This class exists as a union of constraint samplers. It contains a vector of constraint samplers, and will sample from each of them. More...
 

Functions

double countSamplesPerSecond (const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state)
 
double countSamplesPerSecond (const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group)
 
 MOVEIT_CLASS_FORWARD (ConstraintSamplerManager)
 
 MOVEIT_CLASS_FORWARD (ConstraintSamplerAllocator)
 
 MOVEIT_CLASS_FORWARD (JointConstraintSampler)
 
 MOVEIT_CLASS_FORWARD (ConstraintSampler)
 
 MOVEIT_CLASS_FORWARD (IKConstraintSampler)
 
void visualizeDistribution (const ConstraintSamplerPtr &sampler, const robot_state::RobotState &reference_state, const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)
 
void visualizeDistribution (const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group, const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)
 

Detailed Description

The constraint samplers namespace contains a number of methods for generating samples based on a constraint or set of constraints.

It intended for use by any algorithm that requires a constraint-aware sampling strategy.

Function Documentation

double constraint_samplers::countSamplesPerSecond ( const ConstraintSamplerPtr &  sampler,
const robot_state::RobotState reference_state 
)

Definition at line 57 of file constraint_sampler_tools.cpp.

double constraint_samplers::countSamplesPerSecond ( const moveit_msgs::Constraints &  constr,
const planning_scene::PlanningSceneConstPtr &  scene,
const std::string &  group 
)

Definition at line 49 of file constraint_sampler_tools.cpp.

constraint_samplers::MOVEIT_CLASS_FORWARD ( ConstraintSamplerManager  )
constraint_samplers::MOVEIT_CLASS_FORWARD ( ConstraintSamplerAllocator  )
constraint_samplers::MOVEIT_CLASS_FORWARD ( JointConstraintSampler  )
constraint_samplers::MOVEIT_CLASS_FORWARD ( ConstraintSampler  )
constraint_samplers::MOVEIT_CLASS_FORWARD ( IKConstraintSampler  )
void constraint_samplers::visualizeDistribution ( const ConstraintSamplerPtr &  sampler,
const robot_state::RobotState reference_state,
const std::string &  link_name,
unsigned int  sample_count,
visualization_msgs::MarkerArray &  markers 
)

Definition at line 82 of file constraint_sampler_tools.cpp.

void constraint_samplers::visualizeDistribution ( const moveit_msgs::Constraints &  constr,
const planning_scene::PlanningSceneConstPtr &  scene,
const std::string &  group,
const std::string &  link_name,
unsigned int  sample_count,
visualization_msgs::MarkerArray &  markers 
)

Definition at line 40 of file constraint_sampler_tools.cpp.



moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sat Apr 21 2018 02:54:52