Public Member Functions | Private Member Functions | Private Attributes | List of all members
ompl_interface::ConstrainedGoalSampler Class Reference

#include <constrained_goal_sampler.h>

Inheritance diagram for ompl_interface::ConstrainedGoalSampler:
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Public Member Functions

 ConstrainedGoalSampler (const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks, const constraint_samplers::ConstraintSamplerPtr &cs=constraint_samplers::ConstraintSamplerPtr())
 

Private Member Functions

bool checkStateValidity (ompl::base::State *new_goal, const robot_state::RobotState &state, bool verbose=false) const
 
bool sampleUsingConstraintSampler (const ompl::base::GoalLazySamples *gls, ompl::base::State *new_goal)
 
bool stateValidityCallback (ompl::base::State *new_goal, robot_state::RobotState const *state, const robot_model::JointModelGroup *, const double *, bool verbose=false) const
 

Private Attributes

constraint_samplers::ConstraintSamplerPtr constraint_sampler_
 
ompl::base::StateSamplerPtr default_sampler_
 
unsigned int invalid_sampled_constraints_
 
kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_
 
const ModelBasedPlanningContextplanning_context_
 
unsigned int verbose_display_
 
bool warned_invalid_samples_
 
robot_state::RobotState work_state_
 

Detailed Description

An interface to the OMPL goal lazy sampler

Definition at line 53 of file constrained_goal_sampler.h.

Constructor & Destructor Documentation

ompl_interface::ConstrainedGoalSampler::ConstrainedGoalSampler ( const ModelBasedPlanningContext pc,
const kinematic_constraints::KinematicConstraintSetPtr &  ks,
const constraint_samplers::ConstraintSamplerPtr &  cs = constraint_samplers::ConstraintSamplerPtr() 
)

Definition at line 42 of file constrained_goal_sampler.cpp.

Member Function Documentation

bool ompl_interface::ConstrainedGoalSampler::checkStateValidity ( ompl::base::State *  new_goal,
const robot_state::RobotState &  state,
bool  verbose = false 
) const
private

Definition at line 61 of file constrained_goal_sampler.cpp.

bool ompl_interface::ConstrainedGoalSampler::sampleUsingConstraintSampler ( const ompl::base::GoalLazySamples *  gls,
ompl::base::State *  new_goal 
)
private

Definition at line 81 of file constrained_goal_sampler.cpp.

bool ompl_interface::ConstrainedGoalSampler::stateValidityCallback ( ompl::base::State *  new_goal,
robot_state::RobotState const *  state,
const robot_model::JointModelGroup *  ,
const double *  ,
bool  verbose = false 
) const
private

Definition at line 69 of file constrained_goal_sampler.cpp.

Member Data Documentation

constraint_samplers::ConstraintSamplerPtr ompl_interface::ConstrainedGoalSampler::constraint_sampler_
private

Definition at line 69 of file constrained_goal_sampler.h.

ompl::base::StateSamplerPtr ompl_interface::ConstrainedGoalSampler::default_sampler_
private

Definition at line 70 of file constrained_goal_sampler.h.

unsigned int ompl_interface::ConstrainedGoalSampler::invalid_sampled_constraints_
private

Definition at line 72 of file constrained_goal_sampler.h.

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ConstrainedGoalSampler::kinematic_constraint_set_
private

Definition at line 68 of file constrained_goal_sampler.h.

const ModelBasedPlanningContext* ompl_interface::ConstrainedGoalSampler::planning_context_
private

Definition at line 67 of file constrained_goal_sampler.h.

unsigned int ompl_interface::ConstrainedGoalSampler::verbose_display_
private

Definition at line 74 of file constrained_goal_sampler.h.

bool ompl_interface::ConstrainedGoalSampler::warned_invalid_samples_
private

Definition at line 73 of file constrained_goal_sampler.h.

robot_state::RobotState ompl_interface::ConstrainedGoalSampler::work_state_
private

Definition at line 71 of file constrained_goal_sampler.h.


The documentation for this class was generated from the following files:


ompl
Author(s): Ioan Sucan
autogenerated on Wed Jul 18 2018 02:49:14