Inheritance diagram for ompl_interface::ValidConstrainedSampler:

Public Member Functions
virtual bool	project (ompl::base::State *state)

virtual bool	sample (ompl::base::State *state)

virtual bool	sampleNear (ompl::base::State state, const ompl::base::State near, const double distance)

	ValidConstrainedSampler (const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks, const constraint_samplers::ConstraintSamplerPtr &cs=constraint_samplers::ConstraintSamplerPtr())

Private Attributes
constraint_samplers::ConstraintSamplerPtr	constraint_sampler_

ompl::base::StateSamplerPtr	default_sampler_

double	inv_dim_

kinematic_constraints::KinematicConstraintSetPtr	kinematic_constraint_set_

const ModelBasedPlanningContext *	planning_context_

ompl::RNG	rng_

robot_state::RobotState	work_state_

Detailed Description

This class defines a sampler that tries to find a valid sample that satisfies the specified constraints

Constructor & Destructor Documentation

ompl_interface::ValidConstrainedSampler::ValidConstrainedSampler	(	const ModelBasedPlanningContext *	pc,
		const kinematic_constraints::KinematicConstraintSetPtr &	ks,
		const constraint_samplers::ConstraintSamplerPtr &	cs = `constraint_samplers::ConstraintSamplerPtr()`
	)

bool ompl_interface::ValidConstrainedSampler::project ( ompl::base::State * state )

virtual

bool ompl_interface::ValidConstrainedSampler::sample ( ompl::base::State * state )

virtual

bool ompl_interface::ValidConstrainedSampler::sampleNear	(	ompl::base::State *	state,
		const ompl::base::State *	near,
		const double	distance
	)

virtual

constraint_samplers::ConstraintSamplerPtr ompl_interface::ValidConstrainedSampler::constraint_sampler_

private

ompl::base::StateSamplerPtr ompl_interface::ValidConstrainedSampler::default_sampler_

private

double ompl_interface::ValidConstrainedSampler::inv_dim_

private

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ValidConstrainedSampler::kinematic_constraint_set_

private

const ModelBasedPlanningContext* ompl_interface::ValidConstrainedSampler::planning_context_

private

ompl::RNG ompl_interface::ValidConstrainedSampler::rng_

private

robot_state::RobotState ompl_interface::ValidConstrainedSampler::work_state_

private

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