projection_evaluators.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef MOVEIT_OMPL_INTERFACE_DETAIL_PROJECTION_EVALUATORS_
38 #define MOVEIT_OMPL_INTERFACE_DETAIL_PROJECTION_EVALUATORS_
39 
40 #include <ompl/config.h>
41 #include <ompl/base/ProjectionEvaluator.h>
43 
44 #if OMPL_VERSION_VALUE >= 1004000 // Version greater than 1.4.0
45 typedef Eigen::Ref<Eigen::VectorXd> OMPLProjection;
46 #else // All other versions
47 typedef ompl::base::EuclideanProjection& OMPLProjection;
48 #endif
49 
50 namespace ompl_interface
51 {
52 class ModelBasedPlanningContext;
53 
56 class ProjectionEvaluatorLinkPose : public ompl::base::ProjectionEvaluator
57 {
58 public:
59  ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext* pc, const std::string& link);
60 
61  virtual unsigned int getDimension() const;
62  virtual void defaultCellSizes();
63  virtual void project(const ompl::base::State* state, OMPLProjection projection) const override;
64 
65 private:
67  const robot_model::LinkModel* link_;
69 };
70 
73 class ProjectionEvaluatorJointValue : public ompl::base::ProjectionEvaluator
74 {
75 public:
76  ProjectionEvaluatorJointValue(const ModelBasedPlanningContext* pc, const std::vector<unsigned int>& variables);
77 
78  virtual unsigned int getDimension() const;
79  virtual void defaultCellSizes();
80  virtual void project(const ompl::base::State* state, OMPLProjection projection) const;
81 
82 private:
84  std::vector<unsigned int> variables_;
85 };
86 }
87 
88 #endif
virtual void project(const ompl::base::State *state, OMPLProjection projection) const override
The MoveIt! interface to OMPL.
const ModelBasedPlanningContext * planning_context_
const ModelBasedPlanningContext * planning_context_
ompl::base::EuclideanProjection & OMPLProjection
ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext *pc, const std::string &link)


ompl
Author(s): Ioan Sucan
autogenerated on Sun Oct 21 2018 10:37:13