constrained_goal_sampler.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_GOAL_SAMPLER_
#define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_GOAL_SAMPLER_

#include <ompl/base/goals/GoalLazySamples.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <moveit/constraint_samplers/constraint_sampler.h>

#include <moveit/robot_state/robot_state.h>
#include <moveit/robot_model/joint_model_group.h>

namespace ompl_interface
{

class ModelBasedPlanningContext;

class ConstrainedGoalSampler : public ompl::base::GoalLazySamples
{
public:

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

private:

  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;
  bool checkStateValidity(ompl::base::State* new_goal, const robot_state::RobotState& state, bool verbose=false) const;

  const ModelBasedPlanningContext                 *planning_context_;
  kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_;
  constraint_samplers::ConstraintSamplerPtr        constraint_sampler_;
  ompl::base::StateSamplerPtr                      default_sampler_;
  robot_state::RobotState                          work_state_;
  unsigned int                                     invalid_sampled_constraints_;
  bool                                             warned_invalid_samples_;
  unsigned int                                     verbose_display_;
};
}

#endif