constrained_valid_state_sampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
40 
42  const ModelBasedPlanningContext* pc, const kinematic_constraints::KinematicConstraintSetPtr& ks,
43  const constraint_samplers::ConstraintSamplerPtr& cs)
44  : ob::ValidStateSampler(pc->getOMPLSimpleSetup()->getSpaceInformation().get())
45  , planning_context_(pc)
46  , kinematic_constraint_set_(ks)
47  , constraint_sampler_(cs)
48  , work_state_(pc->getCompleteInitialRobotState())
49 {
51  default_sampler_ = si_->allocStateSampler();
52  inv_dim_ = si_->getStateSpace()->getDimension() > 0 ? 1.0 / (double)si_->getStateSpace()->getDimension() : 1.0;
53  logDebug("Constructed a ValidConstrainedSampler instance at address %p", this);
54 }
55 
57 {
59  {
60  planning_context_->getOMPLStateSpace()->copyToRobotState(work_state_, state);
62  {
63  if (kinematic_constraint_set_->decide(work_state_).satisfied)
64  {
65  planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_state_);
66  return true;
67  }
68  }
69  }
70  return false;
71 }
72 
74 {
75  // moveit::Profiler::ScopedBlock pblock("ValidConstrainedSampler::sample");
77  {
80  {
81  if (kinematic_constraint_set_->decide(work_state_).satisfied)
82  {
83  planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_state_);
84  return true;
85  }
86  }
87  }
88  else
89  {
90  default_sampler_->sampleUniform(state);
91  planning_context_->getOMPLStateSpace()->copyToRobotState(work_state_, state);
92  if (kinematic_constraint_set_->decide(work_state_).satisfied)
93  return true;
94  }
95 
96  return false;
97 }
98 
99 bool ompl_interface::ValidConstrainedSampler::sampleNear(ompl::base::State* state, const ompl::base::State* near,
100  const double distance)
101 {
102  if (!sample(state))
103  return false;
104  double total_d = si_->distance(state, near);
105  if (total_d > distance)
106  {
107  double dist = pow(rng_.uniform01(), inv_dim_) * distance;
108  si_->getStateSpace()->interpolate(near, state, dist / total_d, state);
109  planning_context_->getOMPLStateSpace()->copyToRobotState(work_state_, state);
110  if (!kinematic_constraint_set_->decide(work_state_).satisfied)
111  return false;
112  }
113  return true;
114 }
const ModelBasedPlanningContext * planning_context_
virtual bool sampleNear(ompl::base::State *state, const ompl::base::State *near, const double distance)
kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_
const robot_state::RobotState & getCompleteInitialRobotState() const
def get(url)
ValidConstrainedSampler(const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks, const constraint_samplers::ConstraintSamplerPtr &cs=constraint_samplers::ConstraintSamplerPtr())
constraint_samplers::ConstraintSamplerPtr constraint_sampler_
virtual bool sample(ompl::base::State *state)
virtual bool project(ompl::base::State *state)
INLINE Rall1d< T, V, S > pow(const Rall1d< T, V, S > &arg, double m)
const ModelBasedStateSpacePtr & getOMPLStateSpace() const


ompl
Author(s): Ioan Sucan
autogenerated on Sat Apr 21 2018 02:55:34