constraint_sampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
41 #include <vector>
42 
52 {
53 MOVEIT_CLASS_FORWARD(ConstraintSampler); // Defines ConstraintSamplerPtr, ConstPtr, WeakPtr... etc
54 
60 {
61 public:
64  static const unsigned int DEFAULT_MAX_SAMPLING_ATTEMPTS = 2;
65 
75  ConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name);
76 
77  virtual ~ConstraintSampler()
78  {
79  }
80 
89  virtual bool configure(const moveit_msgs::Constraints& constr) = 0;
90 
96  const std::string& getGroupName() const
97  {
98  return getJointModelGroup()->getName();
99  }
100 
108  {
109  return jmg_;
110  }
111 
118  const planning_scene::PlanningSceneConstPtr& getPlanningScene() const
119  {
120  return scene_;
121  }
122 
134  const std::vector<std::string>& getFrameDependency() const
135  {
136  return frame_depends_;
137  }
138 
144  {
146  }
147 
155  {
157  }
158 
169  bool sample(moveit::core::RobotState& state)
170  {
171  return sample(state, state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
172  }
173 
185  bool sample(moveit::core::RobotState& state, unsigned int max_attempts)
186  {
187  return sample(state, state, max_attempts);
188  }
189 
200  bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state)
201  {
202  return sample(state, reference_state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
203  }
204 
215  bool project(moveit::core::RobotState& state)
216  {
218  }
219 
231  virtual bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
232  unsigned int max_attempts) = 0;
233 
245  virtual bool project(moveit::core::RobotState& state, unsigned int max_attempts) = 0;
246 
254  bool isValid() const
255  {
256  return is_valid_;
257  }
258 
260  bool getVerbose() const
261  {
262  return verbose_;
263  }
264 
266  virtual void setVerbose(bool verbose)
267  {
268  verbose_ = verbose;
269  }
270 
276  virtual const std::string& getName() const = 0;
277 
278 protected:
283  virtual void clear();
284 
285  bool is_valid_;
286 
288  planning_scene::PlanningSceneConstPtr scene_;
290  const moveit::core::JointModelGroup* const jmg_;
292  std::vector<std::string> frame_depends_;
295  bool verbose_;
296 };
297 } // namespace constraint_samplers
constraint_samplers::ConstraintSampler::is_valid_
bool is_valid_
Holds the value for validity.
Definition: constraint_sampler.h:317
constraint_samplers::ConstraintSampler::setGroupStateValidityCallback
void setGroupStateValidityCallback(const moveit::core::GroupStateValidityCallbackFn &callback)
Sets the callback used to determine the state validity during sampling. The sampler will attempt to s...
Definition: constraint_sampler.h:186
moveit::core::GroupStateValidityCallbackFn
boost::function< bool(RobotState *robot_state, const JointModelGroup *joint_group, const double *joint_group_variable_values)> GroupStateValidityCallbackFn
Signature for functions that can verify that if the group joint_group in robot_state is set to joint_...
Definition: robot_state.h:136
constraint_samplers::ConstraintSampler::configure
virtual bool configure(const moveit_msgs::Constraints &constr)=0
Function for configuring a constraint sampler given a Constraints message.
kinematic_constraint.h
constraint_samplers::ConstraintSampler::setVerbose
virtual void setVerbose(bool verbose)
Enable/disable verbose mode for sampler.
Definition: constraint_sampler.h:298
moveit::core::JointModelGroup
Definition: joint_model_group.h:134
constraint_samplers::ConstraintSampler::jmg_
const moveit::core::JointModelGroup *const jmg_
Holds the joint model group associated with this constraint.
Definition: constraint_sampler.h:322
constraint_samplers::ConstraintSampler::getGroupStateValidityCallback
const moveit::core::GroupStateValidityCallbackFn & getGroupStateValidityCallback() const
Gets the callback used to determine state validity during sampling. The sampler will attempt to satis...
Definition: constraint_sampler.h:175
constraint_samplers::ConstraintSampler::sample
bool sample(moveit::core::RobotState &state)
Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be pass...
Definition: constraint_sampler.h:201
constraint_samplers::ConstraintSampler::getFrameDependency
const std::vector< std::string > & getFrameDependency() const
Return the names of the mobile frames whose pose is needed when sample() is called.
Definition: constraint_sampler.h:166
constraint_samplers::ConstraintSampler::verbose_
bool verbose_
True if verbosity is on.
Definition: constraint_sampler.h:327
planning_scene.h
moveit::core::RobotState
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition: robot_state.h:155
constraint_samplers::ConstraintSampler::getGroupName
const std::string & getGroupName() const
Gets the group name set in the constructor.
Definition: constraint_sampler.h:128
constraint_samplers::ConstraintSampler::getName
virtual const std::string & getName() const =0
Get the name of the constraint sampler, for debugging purposes should be in CamelCase format.
moveit::core::JointModelGroup::getName
const std::string & getName() const
Get the name of the joint group.
Definition: joint_model_group.h:185
constraint_samplers::ConstraintSampler::isValid
bool isValid() const
Returns whether or not the constraint sampler is valid or not. To be valid, the joint model group mus...
Definition: constraint_sampler.h:286
constraint_samplers::ConstraintSampler::DEFAULT_MAX_SAMPLING_ATTEMPTS
static const unsigned int DEFAULT_MAX_SAMPLING_ATTEMPTS
The default value associated with a sampling request. By default if a valid sample cannot be produced...
Definition: constraint_sampler.h:96
constraint_samplers
The constraint samplers namespace contains a number of methods for generating samples based on a cons...
Definition: constraint_sampler.h:51
constraint_samplers::ConstraintSampler::frame_depends_
std::vector< std::string > frame_depends_
Holds the set of frames that must exist in the reference state to allow samples to be drawn.
Definition: constraint_sampler.h:324
constraint_samplers::ConstraintSampler::clear
virtual void clear()
Clears all data from the constraint.
Definition: constraint_sampler.cpp:49
constraint_samplers::ConstraintSampler::group_state_validity_callback_
moveit::core::GroupStateValidityCallbackFn group_state_validity_callback_
Holds the callback for state validity.
Definition: constraint_sampler.h:326
constraint_samplers::ConstraintSampler::getPlanningScene
const planning_scene::PlanningSceneConstPtr & getPlanningScene() const
Gets the planning scene.
Definition: constraint_sampler.h:150
constraint_samplers::ConstraintSampler::~ConstraintSampler
virtual ~ConstraintSampler()
Definition: constraint_sampler.h:109
constraint_samplers::ConstraintSampler::getJointModelGroup
const moveit::core::JointModelGroup * getJointModelGroup() const
Gets the joint model group.
Definition: constraint_sampler.h:139
constraint_samplers::ConstraintSampler::scene_
planning_scene::PlanningSceneConstPtr scene_
Holds the planning scene.
Definition: constraint_sampler.h:320
constraint_samplers::ConstraintSampler
ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a parti...
Definition: constraint_sampler.h:91
constraint_samplers::ConstraintSampler::getVerbose
bool getVerbose() const
Check if the sampler is set to verbose mode.
Definition: constraint_sampler.h:292
constraint_samplers::ConstraintSampler::project
bool project(moveit::core::RobotState &state)
Project a sample given the constraints, updating the joint state group. The value DEFAULT_MAX_SAMPLIN...
Definition: constraint_sampler.h:247
constraint_samplers::MOVEIT_CLASS_FORWARD
MOVEIT_CLASS_FORWARD(ConstraintSampler)
constraint_samplers::ConstraintSampler::ConstraintSampler
ConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name)
Constructor.
Definition: constraint_sampler.cpp:39
verbose
bool verbose


moveit_core
Author(s): Ioan Sucan , Sachin Chitta , Acorn Pooley
autogenerated on Fri Dec 3 2021 03:23:21