ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a particular group of a robot. More...

#include <constraint_sampler.h>

Inheritance diagram for constraint_samplers::ConstraintSampler:

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Collaboration diagram for constraint_samplers::ConstraintSampler:

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Public Member Functions
	ConstraintSampler (const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name)
	Constructor. More...

virtual	~ConstraintSampler ()

virtual bool	configure (const moveit_msgs::msg::Constraints &constr)=0
	Function for configuring a constraint sampler given a Constraints message. More...

const std::string &	getGroupName () const
	Gets the group name set in the constructor. More...

const moveit::core::JointModelGroup *	getJointModelGroup () const
	Gets the joint model group. More...

const planning_scene::PlanningSceneConstPtr &	getPlanningScene () const
	Gets the planning scene. More...

const std::vector< std::string > &	getFrameDependency () const
	Return the names of the mobile frames whose pose is needed when sample() is called. More...

const moveit::core::GroupStateValidityCallbackFn &	getGroupStateValidityCallback () const
	Gets the callback used to determine state validity during sampling. The sampler will attempt to satisfy this constraint if possible, but there is no guarantee. More...

void	setGroupStateValidityCallback (const moveit::core::GroupStateValidityCallbackFn &callback)
	Sets the callback used to determine the state validity during sampling. The sampler will attempt to satisfy this constraint if possible, but there is no guarantee. More...

bool	sample (moveit::core::RobotState &state)
	Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to take a sample. More...

bool	sample (moveit::core::RobotState &state, unsigned int max_attempts)
	Samples given the constraints, populating state. This function allows the parameter max_attempts to be set. More...

bool	sample (moveit::core::RobotState &state, const moveit::core::RobotState &reference_state)
	Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to take a sample. More...

bool	project (moveit::core::RobotState &state)
	Project a sample given the constraints, updating the joint state group. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to project the sample. More...

virtual bool	sample (moveit::core::RobotState &state, const moveit::core::RobotState &reference_state, unsigned int max_attempts)=0
	Samples given the constraints, populating state. This function allows the parameter max_attempts to be set. More...

virtual bool	project (moveit::core::RobotState &state, unsigned int max_attempts)=0
	Project a sample given the constraints, updating the joint state group. This function allows the parameter max_attempts to be set. More...

bool	isValid () const
	Returns whether or not the constraint sampler is valid or not. To be valid, the joint model group must be available in the kinematic model and configure() must have successfully been called. More...

bool	getVerbose () const
	Check if the sampler is set to verbose mode. More...

virtual void	setVerbose (bool verbose)
	Enable/disable verbose mode for sampler. More...

virtual const std::string &	getName () const =0
	Get the name of the constraint sampler, for debugging purposes should be in CamelCase format. More...

Static Public Attributes
static const unsigned int	DEFAULT_MAX_SAMPLING_ATTEMPTS = 2
	The default value associated with a sampling request. By default if a valid sample cannot be produced in this many attempts, it returns with no sample. More...

Protected Member Functions
virtual void	clear ()
	Clears all data from the constraint. More...

Protected Attributes
bool	is_valid_
	Holds the value for validity. More...

planning_scene::PlanningSceneConstPtr	scene_
	Holds the planning scene. More...

const moveit::core::JointModelGroup *const	jmg_
	Holds the joint model group associated with this constraint. More...

std::vector< std::string >	frame_depends_
	Holds the set of frames that must exist in the reference state to allow samples to be drawn. More...

moveit::core::GroupStateValidityCallbackFn	group_state_validity_callback_
	Holds the callback for state validity. More...

bool	verbose_
	True if verbosity is on. More...

Detailed Description

ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a particular group of a robot.

Definition at line 59 of file constraint_sampler.h.

Constructor & Destructor Documentation

◆ ConstraintSampler()

constraint_samplers::ConstraintSampler::ConstraintSampler	(	const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group_name
	)

Constructor.

Parameters

[in]	scene	The planning scene that will be used for constraint checking
[in]	group_name	The group name associated with the constraint. Will be invalid if no group name is passed in or the joint model group cannot be found in the kinematic model

Definition at line 45 of file constraint_sampler.cpp.

◆ ~ConstraintSampler()

virtual constraint_samplers::ConstraintSampler::~ConstraintSampler ( )

inlinevirtual

Definition at line 77 of file constraint_sampler.h.

Member Function Documentation

◆ clear()

void constraint_samplers::ConstraintSampler::clear ( )

protectedvirtual

Clears all data from the constraint.

Reimplemented in constraint_samplers::IKConstraintSampler, and constraint_samplers::JointConstraintSampler.

Definition at line 55 of file constraint_sampler.cpp.

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◆ configure()

virtual bool constraint_samplers::ConstraintSampler::configure ( const moveit_msgs::msg::Constraints & constr )

pure virtual

Function for configuring a constraint sampler given a Constraints message.

Parameters

[in] constr The constraints from which to construct a sampler

Returns: True if the configuration is successful. If true, isValid should also true. If false, isValid should return false

Implemented in constraint_samplers::IKConstraintSampler, constraint_samplers::JointConstraintSampler, and constraint_samplers::UnionConstraintSampler.

◆ getFrameDependency()

const std::vector<std::string>& constraint_samplers::ConstraintSampler::getFrameDependency ( ) const

inline

Return the names of the mobile frames whose pose is needed when sample() is called.

Mobile frames mean frames other than the reference frame of the kinematic model. These frames may move when the kinematic state changes. Frame dependency can help determine an ordering from a set of constraint samplers - for more information see the derived class documentation for UnionConstraintSampler.

Returns: The list of names whose pose is needed

Definition at line 134 of file constraint_sampler.h.

◆ getGroupName()

const std::string& constraint_samplers::ConstraintSampler::getGroupName ( ) const

inline

Gets the group name set in the constructor.

Returns: The group name

Definition at line 96 of file constraint_sampler.h.

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◆ getGroupStateValidityCallback()

const moveit::core::GroupStateValidityCallbackFn& constraint_samplers::ConstraintSampler::getGroupStateValidityCallback ( ) const

inline

Gets the callback used to determine state validity during sampling. The sampler will attempt to satisfy this constraint if possible, but there is no guarantee.

Definition at line 143 of file constraint_sampler.h.

◆ getJointModelGroup()

const moveit::core::JointModelGroup* constraint_samplers::ConstraintSampler::getJointModelGroup ( ) const

inline

Gets the joint model group.

Returns: The joint model group

Definition at line 107 of file constraint_sampler.h.

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◆ getName()

virtual const std::string& constraint_samplers::ConstraintSampler::getName ( ) const

pure virtual

Get the name of the constraint sampler, for debugging purposes should be in CamelCase format.

Returns: string of name

Implemented in constraint_samplers::UnionConstraintSampler, constraint_samplers::IKConstraintSampler, and constraint_samplers::JointConstraintSampler.

◆ getPlanningScene()

const planning_scene::PlanningSceneConstPtr& constraint_samplers::ConstraintSampler::getPlanningScene ( ) const

inline

Gets the planning scene.

Returns: The planning scene as a const ptr

Definition at line 118 of file constraint_sampler.h.

◆ getVerbose()

bool constraint_samplers::ConstraintSampler::getVerbose ( ) const

inline

Check if the sampler is set to verbose mode.

Definition at line 260 of file constraint_sampler.h.

◆ isValid()

bool constraint_samplers::ConstraintSampler::isValid ( ) const

inline

Returns whether or not the constraint sampler is valid or not. To be valid, the joint model group must be available in the kinematic model and configure() must have successfully been called.

Returns: True if the sampler is valid, and otherwise false.

Definition at line 254 of file constraint_sampler.h.

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◆ project() [1/2]

bool constraint_samplers::ConstraintSampler::project ( moveit::core::RobotState & state )

inline

Project a sample given the constraints, updating the joint state group. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to project the sample.

Parameters

state The state which specifies the state to be projected, according to the constraints. Only values for the group are written. The same state is used as reference if needed.

Returns: True if a sample was successfully projected, false otherwise

Definition at line 215 of file constraint_sampler.h.

◆ project() [2/2]

virtual bool constraint_samplers::ConstraintSampler::project	(	moveit::core::RobotState &	state,
		unsigned int	max_attempts
	)

pure virtual

Project a sample given the constraints, updating the joint state group. This function allows the parameter max_attempts to be set.

Parameters

[out]	state	The state into which the values will be placed. Only values for the group are written.
[in]	max_attempts	The maximum number of times to attempt to draw a sample. If no sample has been drawn in this number of attempts, false will be returned.

Returns: True if a sample was successfully projected, false otherwise

Implemented in constraint_samplers::UnionConstraintSampler, constraint_samplers::IKConstraintSampler, and constraint_samplers::JointConstraintSampler.

◆ sample() [1/4]

bool constraint_samplers::ConstraintSampler::sample ( moveit::core::RobotState & state )

inline

Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to take a sample.

Parameters

state The state into which the values will be placed. Only values for the group are written. The same state is used as reference if needed.

Returns: True if a sample was successfully taken, false otherwise

Definition at line 169 of file constraint_sampler.h.

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◆ sample() [2/4]

bool constraint_samplers::ConstraintSampler::sample	(	moveit::core::RobotState &	state,
		const moveit::core::RobotState &	reference_state
	)

inline

Samples given the constraints, populating state. The value DEFAULT_MAX_SAMPLING_ATTEMPTS will be passed in as the maximum number of attempts to make to take a sample.

Parameters

[out]	state	The state into which the values will be placed. Only values for the group are written.
[in]	reference_state	Reference state that will be used to do transforms or perform other actions

Returns: True if a sample was successfully taken, false otherwise

Definition at line 200 of file constraint_sampler.h.

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◆ sample() [3/4]

virtual bool constraint_samplers::ConstraintSampler::sample	(	moveit::core::RobotState &	state,
		const moveit::core::RobotState &	reference_state,
		unsigned int	max_attempts
	)

pure virtual

Samples given the constraints, populating state. This function allows the parameter max_attempts to be set.

Parameters

[out]	state	The state into which the values will be placed. Only values for the group are written.
[in]	reference_state	Reference state that will be used to do transforms or perform other actions
[in]	max_attempts	The maximum number of times to attempt to draw a sample. If no sample has been drawn in this number of attempts, false will be returned.

Returns: True if a sample was successfully taken, false otherwise

Implemented in constraint_samplers::UnionConstraintSampler, constraint_samplers::IKConstraintSampler, and constraint_samplers::JointConstraintSampler.

◆ sample() [4/4]

bool constraint_samplers::ConstraintSampler::sample	(	moveit::core::RobotState &	state,
		unsigned int	max_attempts
	)

inline

Samples given the constraints, populating state. This function allows the parameter max_attempts to be set.

Parameters

	state	The state into which the values will be placed. Only values for the group are written. The same state is used as reference if needed.
[in]	max_attempts	The maximum number of times to attempt to draw a sample. If no sample has been drawn in this number of attempts, false will be returned.

Returns: True if a sample was successfully taken, false otherwise

Definition at line 185 of file constraint_sampler.h.

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◆ setGroupStateValidityCallback()

void constraint_samplers::ConstraintSampler::setGroupStateValidityCallback ( const moveit::core::GroupStateValidityCallbackFn & callback )

inline

Sets the callback used to determine the state validity during sampling. The sampler will attempt to satisfy this constraint if possible, but there is no guarantee.

Parameters

callback The callback to set

Definition at line 154 of file constraint_sampler.h.

◆ setVerbose()

virtual void constraint_samplers::ConstraintSampler::setVerbose ( bool verbose )

inlinevirtual

Enable/disable verbose mode for sampler.

Definition at line 266 of file constraint_sampler.h.

Member Data Documentation

◆ DEFAULT_MAX_SAMPLING_ATTEMPTS

const unsigned int constraint_samplers::ConstraintSampler::DEFAULT_MAX_SAMPLING_ATTEMPTS = 2

static

The default value associated with a sampling request. By default if a valid sample cannot be produced in this many attempts, it returns with no sample.

Definition at line 64 of file constraint_sampler.h.

◆ frame_depends_

std::vector<std::string> constraint_samplers::ConstraintSampler::frame_depends_

protected

Holds the set of frames that must exist in the reference state to allow samples to be drawn.

Definition at line 292 of file constraint_sampler.h.

◆ group_state_validity_callback_

moveit::core::GroupStateValidityCallbackFn constraint_samplers::ConstraintSampler::group_state_validity_callback_

protected

Holds the callback for state validity.

Definition at line 294 of file constraint_sampler.h.

◆ is_valid_

bool constraint_samplers::ConstraintSampler::is_valid_

protected

Holds the value for validity.

Definition at line 285 of file constraint_sampler.h.

◆ jmg_

const moveit::core::JointModelGroup* const constraint_samplers::ConstraintSampler::jmg_

protected

Holds the joint model group associated with this constraint.

Definition at line 290 of file constraint_sampler.h.

◆ scene_

planning_scene::PlanningSceneConstPtr constraint_samplers::ConstraintSampler::scene_

protected

Holds the planning scene.

Definition at line 288 of file constraint_sampler.h.

◆ verbose_

bool constraint_samplers::ConstraintSampler::verbose_

protected

True if verbosity is on.

Definition at line 295 of file constraint_sampler.h.

The documentation for this class was generated from the following files:

moveit_core/constraint_samplers/include/moveit/constraint_samplers/constraint_sampler.h
moveit_core/constraint_samplers/src/constraint_sampler.cpp

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ConstraintSampler()

◆ ~ConstraintSampler()

Member Function Documentation

◆ clear()

◆ configure()

◆ getFrameDependency()

◆ getGroupName()

◆ getGroupStateValidityCallback()

◆ getJointModelGroup()

◆ getName()

◆ getPlanningScene()

◆ getVerbose()

◆ isValid()

◆ project() [1/2]

◆ project() [2/2]

◆ sample() [1/4]

◆ sample() [2/4]

◆ sample() [3/4]

◆ sample() [4/4]

◆ setGroupStateValidityCallback()

◆ setVerbose()

Member Data Documentation

◆ DEFAULT_MAX_SAMPLING_ATTEMPTS

◆ frame_depends_

◆ group_state_validity_callback_

◆ is_valid_

◆ jmg_

◆ scene_

◆ verbose_