ompl_interface::ConstrainedGoalSampler Class Reference

#include <constrained_goal_sampler.h>

List of all members.

Public Member Functions
	ConstrainedGoalSampler (const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks, const constraint_samplers::ConstraintSamplerPtr &cs=constraint_samplers::ConstraintSamplerPtr())
Private Member Functions
bool	sampleUsingConstraintSampler (const ompl::base::GoalLazySamples *gls, ompl::base::State *newGoal)
Private Attributes
constraint_samplers::ConstraintSamplerPtr	constraint_sampler_
ompl::base::StateSamplerPtr	default_sampler_
unsigned int	invalid_sampled_constraints_
kinematic_constraints::KinematicConstraintSetPtr	kinematic_constraint_set_
const ModelBasedPlanningContext *	planning_context_
unsigned int	verbose_display_
bool	warned_invalid_samples_
robot_state::JointStateGroup *	work_joint_group_state_
robot_state::RobotState	work_state_

---

Detailed Description

An interface to the OMPL goal lazy sampler

Definition at line 51 of file constrained_goal_sampler.h.

---

Constructor & Destructor Documentation

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

Definition at line 42 of file constrained_goal_sampler.cpp.

---

Member Function Documentation

bool ompl_interface::ConstrainedGoalSampler::sampleUsingConstraintSampler	(	const ompl::base::GoalLazySamples *	gls,
		ompl::base::State *	newGoal
	)		[private]

Definition at line 61 of file constrained_goal_sampler.cpp.

---

Member Data Documentation

constraint_samplers::ConstraintSamplerPtr ompl_interface::ConstrainedGoalSampler::constraint_sampler_ [private]

Definition at line 64 of file constrained_goal_sampler.h.

ompl::base::StateSamplerPtr ompl_interface::ConstrainedGoalSampler::default_sampler_ [private]

Definition at line 65 of file constrained_goal_sampler.h.

unsigned int ompl_interface::ConstrainedGoalSampler::invalid_sampled_constraints_ [private]

Definition at line 68 of file constrained_goal_sampler.h.

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ConstrainedGoalSampler::kinematic_constraint_set_ [private]

Definition at line 63 of file constrained_goal_sampler.h.

const ModelBasedPlanningContext* ompl_interface::ConstrainedGoalSampler::planning_context_ [private]

Definition at line 62 of file constrained_goal_sampler.h.

unsigned int ompl_interface::ConstrainedGoalSampler::verbose_display_ [private]

Definition at line 70 of file constrained_goal_sampler.h.

bool ompl_interface::ConstrainedGoalSampler::warned_invalid_samples_ [private]

Definition at line 69 of file constrained_goal_sampler.h.

robot_state::JointStateGroup* ompl_interface::ConstrainedGoalSampler::work_joint_group_state_ [private]

Definition at line 67 of file constrained_goal_sampler.h.

robot_state::RobotState ompl_interface::ConstrainedGoalSampler::work_state_ [private]

Definition at line 66 of file constrained_goal_sampler.h.

---

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

• constrained_goal_sampler.h
• constrained_goal_sampler.cpp