constraint_approximations.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINT_APPROXIMATION_
#define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINT_APPROXIMATION_

#include <planning_scene/planning_scene.h>
#include <kinematic_constraints/kinematic_constraint.h>
#include <ompl/base/StateStorage.h>
#include <visualization_msgs/MarkerArray.h>
#include <boost/function.hpp>

namespace ompl_interface
{

typedef ompl::base::StateStorageWithMetadata< std::vector<std::size_t> > ConstraintApproximationStateStorage;
typedef boost::function<bool(const ompl::base::State*, const ompl::base::State*)> ConstraintStateStorageOrderFn;

struct ConstraintApproximation
{
  ConstraintApproximation(const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory,
                          const std::string &serialization, const std::string &filename, const ompl::base::StateStoragePtr &storage);
  ConstraintApproximation(const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory,
                          const moveit_msgs::Constraints &msg, const std::string &filename, const ompl::base::StateStoragePtr &storage);

  void visualizeDistribution(const std::string &link_name, unsigned int count, visualization_msgs::MarkerArray &arr) const;

  std::string                                      group_;
  std::string                                      factory_;
  std::string                                      serialization_;
  moveit_msgs::Constraints                         constraint_msg_;
  planning_models::RobotModelConstPtr          kmodel_;
  kinematic_constraints::KinematicConstraintSetPtr kconstraints_set_;
  std::vector<int>                                 space_signature_;

  std::string                                      ompldb_filename_;
  ompl::base::StateStoragePtr                      state_storage_ptr_;
  ConstraintApproximationStateStorage             *state_storage_;
};

typedef boost::shared_ptr<std::vector<ConstraintApproximation> > ConstraintApproximationsPtr;
}

#endif