Public Member Functions
	ConstrainedGoalSampler (const ModelBasedPlanningContext *pc, const kinematic_constraints::KinematicConstraintSetPtr &ks, const constraint_samplers::ConstraintSamplerPtr &cs=constraint_samplers::ConstraintSamplerPtr())
Private Member Functions
bool	checkStateValidity (ompl::base::State *new_goal, const robot_state::RobotState &state, bool verbose=false) const
bool	sampleUsingConstraintSampler (const ompl::base::GoalLazySamples gls, ompl::base::State new_goal)
bool	stateValidityCallback (ompl::base::State new_goal, robot_state::RobotState const state, const robot_model::JointModelGroup , const double , bool verbose=false) const
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::RobotState	work_state_

Detailed Description

An interface to the OMPL goal lazy sampler

Definition at line 54 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()`
	)

bool ompl_interface::ConstrainedGoalSampler::checkStateValidity	(	ompl::base::State *	new_goal,
		const robot_state::RobotState &	state,
		bool	verbose = `false`
	)		const `[private]`

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

bool ompl_interface::ConstrainedGoalSampler::stateValidityCallback	(	ompl::base::State *	new_goal,
		robot_state::RobotState const *	state,
		const robot_model::JointModelGroup *	,
		const double *	,
		bool	verbose = `false`
	)		const `[private]`