constraint_samplers Namespace Reference

The constraint samplers namespace contains a number of methods for generating samples based on a constraint or set of constraints. More...

Classes
class	ConstraintSampler
	ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a particular group of a robot. More...
class	ConstraintSamplerAllocator
class	ConstraintSamplerManager
	This class assists in the generation of a ConstraintSampler for a particular group from a moveit_msgs::Constraints. More...
class	IKConstraintSampler
	A class that allows the sampling of IK constraints. More...
struct	IKSamplingPose
	A structure for potentially holding a position constraint and an orientation constraint for use during Ik Sampling. More...
class	JointConstraintSampler
	JointConstraintSampler is a class that allows the sampling of joints in a particular group of the robot, subject to a set of individual joint constraints. More...
struct	OrderSamplers
class	UnionConstraintSampler
	This class exists as a union of constraint samplers. It contains a vector of constraint samplers, and will sample from each of them. More...

Functions
double	countSamplesPerSecond (const ConstraintSamplerPtr &sampler, const moveit::core::RobotState &reference_state)
double	countSamplesPerSecond (const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group)
random_numbers::RandomNumberGenerator	createSeededRNG (const std::string &seed_param)
	MOVEIT_CLASS_FORWARD (ConstraintSampler)
	MOVEIT_CLASS_FORWARD (ConstraintSamplerAllocator)
	MOVEIT_CLASS_FORWARD (ConstraintSamplerManager)
	MOVEIT_CLASS_FORWARD (IKConstraintSampler)
	MOVEIT_CLASS_FORWARD (JointConstraintSampler)
void	visualizeDistribution (const ConstraintSamplerPtr &sampler, const moveit::core::RobotState &reference_state, const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)
void	visualizeDistribution (const moveit_msgs::Constraints &constr, const planning_scene::PlanningSceneConstPtr &scene, const std::string &group, const std::string &link_name, unsigned int sample_count, visualization_msgs::MarkerArray &markers)

Detailed Description

The constraint samplers namespace contains a number of methods for generating samples based on a constraint or set of constraints.

It intended for use by any algorithm that requires a constraint-aware sampling strategy.

Function Documentation

countSamplesPerSecond() [1/2]

double constraint_samplers::countSamplesPerSecond	(	const ConstraintSamplerPtr &	sampler,
		const moveit::core::RobotState &	reference_state
	)

Definition at line 57 of file constraint_sampler_tools.cpp.

countSamplesPerSecond() [2/2]

double constraint_samplers::countSamplesPerSecond	(	const moveit_msgs::Constraints &	constr,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group
	)

Definition at line 49 of file constraint_sampler_tools.cpp.

createSeededRNG()

random_numbers::RandomNumberGenerator constraint_samplers::createSeededRNG

(

const std::string &

seed_param

)

Definition at line 75 of file default_constraint_samplers.cpp.

MOVEIT_CLASS_FORWARD() [1/5]

constraint_samplers::MOVEIT_CLASS_FORWARD

(

ConstraintSampler

)

MOVEIT_CLASS_FORWARD() [2/5]

constraint_samplers::MOVEIT_CLASS_FORWARD

(

ConstraintSamplerAllocator

)

MOVEIT_CLASS_FORWARD() [3/5]

constraint_samplers::MOVEIT_CLASS_FORWARD

(

ConstraintSamplerManager

)

MOVEIT_CLASS_FORWARD() [4/5]

constraint_samplers::MOVEIT_CLASS_FORWARD

(

IKConstraintSampler

)

MOVEIT_CLASS_FORWARD() [5/5]

constraint_samplers::MOVEIT_CLASS_FORWARD

(

JointConstraintSampler

)

visualizeDistribution() [1/2]

void constraint_samplers::visualizeDistribution	(	const ConstraintSamplerPtr &	sampler,
		const moveit::core::RobotState &	reference_state,
		const std::string &	link_name,
		unsigned int	sample_count,
		visualization_msgs::MarkerArray &	markers
	)

Definition at line 82 of file constraint_sampler_tools.cpp.

visualizeDistribution() [2/2]

void constraint_samplers::visualizeDistribution	(	const moveit_msgs::Constraints &	constr,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group,
		const std::string &	link_name,
		unsigned int	sample_count,
		visualization_msgs::MarkerArray &	markers
	)

Definition at line 40 of file constraint_sampler_tools.cpp.