constrained_goal_sampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_GOAL_SAMPLER_
38 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_GOAL_SAMPLER_
39 
40 #include <ompl/base/goals/GoalLazySamples.h>
43 
46 
47 namespace ompl_interface
48 {
49 class ModelBasedPlanningContext;
50 
53 class ConstrainedGoalSampler : public ompl::base::GoalLazySamples
54 {
55 public:
57  const ModelBasedPlanningContext* pc, const kinematic_constraints::KinematicConstraintSetPtr& ks,
58  const constraint_samplers::ConstraintSamplerPtr& cs = constraint_samplers::ConstraintSamplerPtr());
59 
60 private:
61  bool sampleUsingConstraintSampler(const ompl::base::GoalLazySamples* gls, ompl::base::State* new_goal);
62  bool stateValidityCallback(ompl::base::State* new_goal, robot_state::RobotState const* state,
63  const robot_model::JointModelGroup*, const double*, bool verbose = false) const;
64  bool checkStateValidity(ompl::base::State* new_goal, const robot_state::RobotState& state,
65  bool verbose = false) const;
66 
68  kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_;
69  constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
70  ompl::base::StateSamplerPtr default_sampler_;
71  robot_state::RobotState work_state_;
74  unsigned int verbose_display_;
75 };
76 }
77 
78 #endif
bool stateValidityCallback(ompl::base::State *new_goal, robot_state::RobotState const *state, const robot_model::JointModelGroup *, const double *, bool verbose=false) const
const ModelBasedPlanningContext * planning_context_
The MoveIt interface to OMPL.
bool verbose
ConstrainedGoalSampler(const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks, const constraint_samplers::ConstraintSamplerPtr &cs=constraint_samplers::ConstraintSamplerPtr())
constraint_samplers::ConstraintSamplerPtr constraint_sampler_
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)
kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_


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