constraint_approximations.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINT_APPROXIMATION_
38 #define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINT_APPROXIMATION_
39 
43 #include <ompl/base/StateStorage.h>
44 #include <visualization_msgs/MarkerArray.h>
45 #include <boost/function.hpp>
46 
47 namespace ompl_interface
48 {
49 typedef ompl::base::StateStorageWithMetadata<std::vector<std::size_t> > ConstraintApproximationStateStorage;
50 typedef boost::function<bool(const ompl::base::State*, const ompl::base::State*)> ConstraintStateStorageOrderFn;
51 
53 {
54  ConstraintApproximation(const planning_models::RobotModelConstPtr& kinematic_model, const std::string& group,
55  const std::string& factory, const std::string& serialization, const std::string& filename,
56  const ompl::base::StateStoragePtr& storage);
57  ConstraintApproximation(const planning_models::RobotModelConstPtr& kinematic_model, const std::string& group,
58  const std::string& factory, const moveit_msgs::Constraints& msg, const std::string& filename,
59  const ompl::base::StateStoragePtr& storage);
60 
61  void visualizeDistribution(const std::string& link_name, unsigned int count,
62  visualization_msgs::MarkerArray& arr) const;
63 
64  std::string group_;
65  std::string factory_;
66  std::string serialization_;
67  moveit_msgs::Constraints constraint_msg_;
68  planning_models::RobotModelConstPtr kmodel_;
69  kinematic_constraints::KinematicConstraintSetPtr kconstraints_set_;
70  std::vector<int> space_signature_;
71 
72  std::string ompldb_filename_;
73  ompl::base::StateStoragePtr state_storage_ptr_;
74  ConstraintApproximationStateStorage* state_storage_;
75 };
76 
77 MOVEIT_DECLARE_PTR(ConstraintApproximations, std::vector<ConstraintApproximation>)
78 }
79 
80 #endif
void visualizeDistribution(const std::string &link_name, unsigned int count, visualization_msgs::MarkerArray &arr) const
filename
planning_models::RobotModelConstPtr kmodel_
boost::function< bool(const ompl::base::State *, const ompl::base::State *)> ConstraintStateStorageOrderFn
The MoveIt! interface to OMPL.
ConstraintApproximationStateStorage * state_storage_
ompl::base::StateStoragePtr state_storage_ptr_
ConstraintApproximation(const std::string &group, const std::string &state_space_parameterization, bool explicit_motions, const moveit_msgs::Constraints &msg, const std::string &filename, const ompl::base::StateStoragePtr &storage, std::size_t milestones=0)
ompl::base::StateStorageWithMetadata< ConstrainedStateMetadata > ConstraintApproximationStateStorage
#define MOVEIT_DECLARE_PTR(Name, Type)
kinematic_constraints::KinematicConstraintSetPtr kconstraints_set_


ompl
Author(s): Ioan Sucan
autogenerated on Thu Oct 18 2018 02:47:55