projection_evaluators.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_PROJECTION_EVALUATORS_
#define MOVEIT_OMPL_INTERFACE_DETAIL_PROJECTION_EVALUATORS_

#include <ompl/base/ProjectionEvaluator.h>
#include <moveit/ompl_interface/detail/threadsafe_state_storage.h>

namespace ompl_interface
{

class ModelBasedPlanningContext;

class ProjectionEvaluatorLinkPose : public ompl::base::ProjectionEvaluator
{
public:

  ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext *pc, const std::string &link);

  virtual unsigned int getDimension() const;
  virtual void defaultCellSizes();
  virtual void project(const ompl::base::State *state, ompl::base::EuclideanProjection &projection) const;

private:

  const ModelBasedPlanningContext *planning_context_;
  const robot_model::LinkModel    *link_;
  TSStateStorage                   tss_;
};

class ProjectionEvaluatorJointValue : public ompl::base::ProjectionEvaluator
{
public:
  ProjectionEvaluatorJointValue(const ModelBasedPlanningContext *pc, const std::vector<unsigned int> &variables);

  virtual unsigned int getDimension() const;
  virtual void defaultCellSizes();
  virtual void project(const ompl::base::State *state, ompl::base::EuclideanProjection &projection) const;

private:

  const ModelBasedPlanningContext *planning_context_;
  std::vector<unsigned int>        variables_;
};
}

#endif