union_constraint_sampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
38 #define MOVEIT_CONSTRAINT_SAMPLERS_DEFAULT_UNION_CONSTRAINT_SAMPLER_
39 
41 
42 namespace constraint_samplers
43 {
58 {
59 public:
98  UnionConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
99  const std::vector<ConstraintSamplerPtr>& samplers);
100 
107  const std::vector<ConstraintSamplerPtr>& getSamplers() const
108  {
109  return samplers_;
110  }
111 
120  virtual bool configure(const moveit_msgs::Constraints& constr)
121  {
122  return true;
123  }
124 
132  virtual bool canService(const moveit_msgs::Constraints& constr) const
133  {
134  return true;
135  }
136 
152  virtual bool sample(robot_state::RobotState& state, const robot_state::RobotState& reference_state,
153  unsigned int max_attempts);
154 
155  virtual bool project(robot_state::RobotState& state, unsigned int max_attempts);
156 
162  virtual const std::string& getName() const
163  {
164  static const std::string SAMPLER_NAME = "UnionConstraintSampler";
165  return SAMPLER_NAME;
166  }
167 
168 protected:
169  std::vector<ConstraintSamplerPtr> samplers_;
170 };
171 }
172 
173 #endif
UnionConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const std::vector< ConstraintSamplerPtr > &samplers)
Constructor, which will re-order its internal list of samplers on construction.
virtual bool canService(const moveit_msgs::Constraints &constr) const
No-op, as the union constraint sampler can act on anything.
virtual bool sample(robot_state::RobotState &state, const robot_state::RobotState &reference_state, unsigned int max_attempts)
Produces a sample from all configured samplers.
This class exists as a union of constraint samplers. It contains a vector of constraint samplers...
ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a parti...
The constraint samplers namespace contains a number of methods for generating samples based on a cons...
std::vector< ConstraintSamplerPtr > samplers_
Holder for sorted internal list of samplers.
virtual const std::string & getName() const
Get the name of the constraint sampler, for debugging purposes should be in CamelCase format...
Representation of a robot&#39;s state. This includes position, velocity, acceleration and effort...
Definition: robot_state.h:123
virtual bool configure(const moveit_msgs::Constraints &constr)
No-op, as the union constraint sampler is for already configured samplers.
virtual bool project(robot_state::RobotState &state, unsigned int max_attempts)
Project a sample given the constraints, updating the joint state group. This function allows the para...
const std::vector< ConstraintSamplerPtr > & getSamplers() const
Gets the sorted internal list of constraint samplers.


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Sun Oct 21 2018 10:36:32