reachable_valid_pose_filter.h
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34 
35 /* Author: Ioan Sucan, Sachin Chitta */
36 
37 #ifndef MOVEIT_PICK_PLACE_REACHABLE_VALID_POSE_FILTER_
38 #define MOVEIT_PICK_PLACE_REACHABLE_VALID_POSE_FILTER_
39 
43 
44 namespace pick_place
45 {
47 {
48 public:
49  ReachableAndValidPoseFilter(const planning_scene::PlanningSceneConstPtr& scene,
50  const collision_detection::AllowedCollisionMatrixConstPtr& collision_matrix,
51  const constraint_samplers::ConstraintSamplerManagerPtr& constraints_sampler_manager);
52 
53  virtual bool evaluate(const ManipulationPlanPtr& plan) const;
54 
55 private:
56  bool isEndEffectorFree(const ManipulationPlanPtr& plan, robot_state::RobotState& token_state) const;
57 
58  planning_scene::PlanningSceneConstPtr planning_scene_;
59  collision_detection::AllowedCollisionMatrixConstPtr collision_matrix_;
60  constraint_samplers::ConstraintSamplerManagerPtr constraints_sampler_manager_;
61 };
62 }
63 
64 #endif
planning_scene::PlanningSceneConstPtr planning_scene_
bool isEndEffectorFree(const ManipulationPlanPtr &plan, robot_state::RobotState &token_state) const
ReachableAndValidPoseFilter(const planning_scene::PlanningSceneConstPtr &scene, const collision_detection::AllowedCollisionMatrixConstPtr &collision_matrix, const constraint_samplers::ConstraintSamplerManagerPtr &constraints_sampler_manager)
constraint_samplers::ConstraintSamplerManagerPtr constraints_sampler_manager_
collision_detection::AllowedCollisionMatrixConstPtr collision_matrix_
virtual bool evaluate(const ManipulationPlanPtr &plan) const


manipulation
Author(s): Ioan Sucan , Sachin Chitta
autogenerated on Mon Oct 15 2018 03:47:02