constrained_valid_state_sampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
38 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
39 
40 #include <ompl/base/StateSampler.h>
41 #include <ompl/base/ValidStateSampler.h>
44 
45 namespace ompl_interface
46 {
47 class ModelBasedPlanningContext;
48 
49 MOVEIT_CLASS_FORWARD(ValidStateSampler);
50 
53 class ValidConstrainedSampler : public ompl::base::ValidStateSampler
54 {
55 public:
57  const ModelBasedPlanningContext* pc, const kinematic_constraints::KinematicConstraintSetPtr& ks,
58  const constraint_samplers::ConstraintSamplerPtr& cs = constraint_samplers::ConstraintSamplerPtr());
59 
60  virtual bool sample(ompl::base::State* state);
61  virtual bool project(ompl::base::State* state);
62  virtual bool sampleNear(ompl::base::State* state, const ompl::base::State* near, const double distance);
63 
64 private:
66  kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_;
67  constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
68  ompl::base::StateSamplerPtr default_sampler_;
69  robot_state::RobotState work_state_;
70  double inv_dim_;
71  ompl::RNG rng_;
72 };
73 }
74 
75 #endif
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_
The MoveIt interface to OMPL.
MOVEIT_CLASS_FORWARD(ConstraintsLibrary)
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)
double distance(const urdf::Pose &transform)


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