#include <constraints_library.h>

Public Member Functions
	ConstraintApproximation (const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory, const std::string &serialization, const std::string &filename, const ompl::base::StateStoragePtr &storage)

	ConstraintApproximation (const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory, const moveit_msgs::Constraints &msg, const std::string &filename, const ompl::base::StateStoragePtr &storage)

	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)

const moveit_msgs::Constraints &	getConstraintsMsg () const

const std::string &	getFilename () const

const std::string &	getGroup () const

InterpolationFunction	getInterpolationFunction () const

std::size_t	getMilestoneCount () const

const std::string &	getName () const

const std::vector< int > &	getSpaceSignature () const

ompl::base::StateSamplerAllocator	getStateSamplerAllocator (const moveit_msgs::Constraints &msg) const

const std::string &	getStateSpaceParameterization () const

const ompl::base::StateStoragePtr &	getStateStorage () const

bool	hasExplicitMotions () const

void	visualizeDistribution (const std::string &link_name, unsigned int count, visualization_msgs::MarkerArray &arr) const

virtual	~ConstraintApproximation ()

Public Attributes
std::string	factory_

kinematic_constraints::KinematicConstraintSetPtr	kconstraints_set_

planning_models::RobotModelConstPtr	kmodel_

std::string	serialization_

Protected Attributes
moveit_msgs::Constraints	constraint_msg_

bool	explicit_motions_

std::string	group_

std::size_t	milestones_

std::string	ompldb_filename_

std::vector< int >	space_signature_

std::string	state_space_parameterization_

ConstraintApproximationStateStorage *	state_storage_

ompl::base::StateStoragePtr	state_storage_ptr_

Detailed Description

Definition at line 55 of file constraints_library.h.

Constructor & Destructor Documentation

ompl_interface::ConstraintApproximation::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`
	)

Definition at line 202 of file constraints_library.cpp.

virtual ompl_interface::ConstraintApproximation::~ConstraintApproximation ( )

inlinevirtual

Definition at line 62 of file constraints_library.h.

ompl_interface::ConstraintApproximation::ConstraintApproximation	(	const planning_models::RobotModelConstPtr &	kinematic_model,
		const std::string &	group,
		const std::string &	factory,
		const std::string &	serialization,
		const std::string &	filename,
		const ompl::base::StateStoragePtr &	storage
	)

ompl_interface::ConstraintApproximation::ConstraintApproximation	(	const planning_models::RobotModelConstPtr &	kinematic_model,
		const std::string &	group,
		const std::string &	factory,
		const moveit_msgs::Constraints &	msg,
		const std::string &	filename,
		const ompl::base::StateStoragePtr &	storage
	)

Member Function Documentation

const moveit_msgs::Constraints& ompl_interface::ConstraintApproximation::getConstraintsMsg ( ) const

inline

Definition at line 100 of file constraints_library.h.

const std::string& ompl_interface::ConstraintApproximation::getFilename ( ) const

inline

Definition at line 110 of file constraints_library.h.

const std::string& ompl_interface::ConstraintApproximation::getGroup ( ) const

inline

Definition at line 80 of file constraints_library.h.

ompl_interface::InterpolationFunction ompl_interface::ConstraintApproximation::getInterpolationFunction ( ) const

Definition at line 181 of file constraints_library.cpp.

std::size_t ompl_interface::ConstraintApproximation::getMilestoneCount ( ) const

inline

Definition at line 90 of file constraints_library.h.

const std::string& ompl_interface::ConstraintApproximation::getName ( ) const

inline

Definition at line 66 of file constraints_library.h.

const std::vector<int>& ompl_interface::ConstraintApproximation::getSpaceSignature ( ) const

inline

Definition at line 75 of file constraints_library.h.

ompl::base::StateSamplerAllocator ompl_interface::ConstraintApproximation::getStateSamplerAllocator ( const moveit_msgs::Constraints & msg ) const

Definition at line 221 of file constraints_library.cpp.

const std::string& ompl_interface::ConstraintApproximation::getStateSpaceParameterization ( ) const

inline

Definition at line 95 of file constraints_library.h.

const ompl::base::StateStoragePtr& ompl_interface::ConstraintApproximation::getStateStorage ( ) const

inline

Definition at line 105 of file constraints_library.h.

bool ompl_interface::ConstraintApproximation::hasExplicitMotions ( ) const

inline

Definition at line 85 of file constraints_library.h.

void ompl_interface::ConstraintApproximation::visualizeDistribution	(	const std::string &	link_name,
		unsigned int	count,
		visualization_msgs::MarkerArray &	arr
	)		const

Member Data Documentation

moveit_msgs::Constraints ompl_interface::ConstraintApproximation::constraint_msg_

protected

Definition at line 120 of file constraints_library.h.

bool ompl_interface::ConstraintApproximation::explicit_motions_

protected

Definition at line 118 of file constraints_library.h.

std::string ompl_interface::ConstraintApproximation::factory_

Definition at line 65 of file constraint_approximations.h.

std::string ompl_interface::ConstraintApproximation::group_

protected

Definition at line 116 of file constraints_library.h.

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ConstraintApproximation::kconstraints_set_

Definition at line 69 of file constraint_approximations.h.

planning_models::RobotModelConstPtr ompl_interface::ConstraintApproximation::kmodel_

Definition at line 68 of file constraint_approximations.h.

std::size_t ompl_interface::ConstraintApproximation::milestones_

protected

Definition at line 127 of file constraints_library.h.

std::string ompl_interface::ConstraintApproximation::ompldb_filename_

protected

Definition at line 124 of file constraints_library.h.

std::string ompl_interface::ConstraintApproximation::serialization_

Definition at line 66 of file constraint_approximations.h.

std::vector< int > ompl_interface::ConstraintApproximation::space_signature_

protected

Definition at line 122 of file constraints_library.h.

std::string ompl_interface::ConstraintApproximation::state_space_parameterization_

protected

Definition at line 117 of file constraints_library.h.

ConstraintApproximationStateStorage * ompl_interface::ConstraintApproximation::state_storage_

protected

Definition at line 126 of file constraints_library.h.

ompl::base::StateStoragePtr ompl_interface::ConstraintApproximation::state_storage_ptr_

protected

Definition at line 125 of file constraints_library.h.

The documentation for this struct was generated from the following files:

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation