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/base/ProjectionEvaluator.h>
42 
43 namespace ompl_interface
44 {
45 class ModelBasedPlanningContext;
46 
49 class ProjectionEvaluatorLinkPose : public ompl::base::ProjectionEvaluator
50 {
51 public:
52  ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext* pc, const std::string& link);
53 
54  virtual unsigned int getDimension() const;
55  virtual void defaultCellSizes();
56  virtual void project(const ompl::base::State* state, ompl::base::EuclideanProjection& projection) const;
57 
58 private:
60  const robot_model::LinkModel* link_;
62 };
63 
66 class ProjectionEvaluatorJointValue : public ompl::base::ProjectionEvaluator
67 {
68 public:
69  ProjectionEvaluatorJointValue(const ModelBasedPlanningContext* pc, const std::vector<unsigned int>& variables);
70 
71  virtual unsigned int getDimension() const;
72  virtual void defaultCellSizes();
73  virtual void project(const ompl::base::State* state, ompl::base::EuclideanProjection& projection) const;
74 
75 private:
77  std::vector<unsigned int> variables_;
78 };
79 }
80 
81 #endif
The MoveIt interface to OMPL.
const ModelBasedPlanningContext * planning_context_
virtual void project(const ompl::base::State *state, ompl::base::EuclideanProjection &projection) const
const ModelBasedPlanningContext * planning_context_
ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext *pc, const std::string &link)


ompl
Author(s): Ioan Sucan
autogenerated on Sun Jan 21 2018 03:55:31