model_based_state_space_factory.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_FACTORY_
38 #define MOVEIT_OMPL_INTERFACE_PARAMETERIZATION_MODEL_BASED_STATE_SPACE_FACTORY_
39 
42 #include <moveit_msgs/MotionPlanRequest.h>
43 
44 namespace ompl_interface
45 {
46 MOVEIT_CLASS_FORWARD(ModelBasedStateSpaceFactory);
47 
49 {
50 public:
52  {
53  }
54 
56  {
57  }
58 
60 
61  const std::string& getType() const
62  {
63  return type_;
64  }
65 
70  virtual int canRepresentProblem(const std::string& group, const moveit_msgs::MotionPlanRequest& req,
71  const robot_model::RobotModelConstPtr& kmodel) const = 0;
72 
73 protected:
75  std::string type_;
76 };
77 }
78 
79 #endif
virtual ModelBasedStateSpacePtr allocStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const =0
virtual int canRepresentProblem(const std::string &group, const moveit_msgs::MotionPlanRequest &req, const robot_model::RobotModelConstPtr &kmodel) const =0
Decide whether the type of state space constructed by this factory could represent problems specified...
ModelBasedStateSpacePtr getNewStateSpace(const ModelBasedStateSpaceSpecification &space_spec) const
The MoveIt interface to OMPL.
MOVEIT_CLASS_FORWARD(ConstraintsLibrary)
same_shared_ptr< ModelBasedStateSpace, ompl::base::StateSpacePtr >::type ModelBasedStateSpacePtr


ompl
Author(s): Ioan Sucan
autogenerated on Mon Jan 15 2018 03:51:38