constrained_sampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_SAMPLER_
38 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_SAMPLER_
39 
40 #include <ompl/base/StateSampler.h>
42 
43 namespace ompl_interface
44 {
45 class ModelBasedPlanningContext;
46 
49 class ConstrainedSampler : public ompl::base::StateSampler
50 {
51 public:
56  ConstrainedSampler(const ModelBasedPlanningContext* pc, const constraint_samplers::ConstraintSamplerPtr& cs);
57 
59  virtual void sampleUniform(ompl::base::State* state);
60 
62  virtual void sampleUniformNear(ompl::base::State* state, const ompl::base::State* near, const double distance);
63 
65  virtual void sampleGaussian(ompl::base::State* state, const ompl::base::State* mean, const double stdDev);
66 
67  double getConstrainedSamplingRate() const;
68 
69 private:
70  bool sampleC(ompl::base::State* state);
71 
73  ompl::base::StateSamplerPtr default_;
74  constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
75  robot_state::RobotState work_state_;
76  unsigned int constrained_success_;
77  unsigned int constrained_failure_;
78  double inv_dim_;
79 };
80 }
81 
82 #endif
constraint_samplers::ConstraintSamplerPtr constraint_sampler_
ompl::base::StateSamplerPtr default_
ConstrainedSampler(const ModelBasedPlanningContext *pc, const constraint_samplers::ConstraintSamplerPtr &cs)
Default constructor.
virtual void sampleGaussian(ompl::base::State *state, const ompl::base::State *mean, const double stdDev)
Sample a state using the specified Gaussian.
virtual void sampleUniformNear(ompl::base::State *state, const ompl::base::State *near, const double distance)
Sample a state (uniformly) within a certain distance of another state.
The MoveIt! interface to OMPL.
bool sampleC(ompl::base::State *state)
virtual void sampleUniform(ompl::base::State *state)
Sample a state (uniformly)
double distance(const urdf::Pose &transform)
const ModelBasedPlanningContext * planning_context_


ompl
Author(s): Ioan Sucan
autogenerated on Sun Nov 18 2018 03:57:12