#include <constraints_library.h>

Public Member Functions
	ConstraintsLibrary (ModelBasedPlanningContext *pcontext)

void	loadConstraintApproximations (const std::string &path)

void	saveConstraintApproximations (const std::string &path)

ConstraintApproximationConstructionResults	addConstraintApproximation (const moveit_msgs::msg::Constraints &constr_sampling, const moveit_msgs::msg::Constraints &constr_hard, const std::string &group, const planning_scene::PlanningSceneConstPtr &scene, const ConstraintApproximationConstructionOptions &options)

ConstraintApproximationConstructionResults	addConstraintApproximation (const moveit_msgs::msg::Constraints &constr, const std::string &group, const planning_scene::PlanningSceneConstPtr &scene, const ConstraintApproximationConstructionOptions &options)

void	printConstraintApproximations (std::ostream &out=std::cout) const

void	clearConstraintApproximations ()

void	registerConstraintApproximation (const ConstraintApproximationPtr &approx)

const ConstraintApproximationPtr &	getConstraintApproximation (const moveit_msgs::msg::Constraints &msg) const

Detailed Description

Definition at line 161 of file constraints_library.h.

Constructor & Destructor Documentation

◆ ConstraintsLibrary()

ompl_interface::ConstraintsLibrary::ConstraintsLibrary ( ModelBasedPlanningContext * pcontext )

inline

Definition at line 164 of file constraints_library.h.

Member Function Documentation

◆ addConstraintApproximation() [1/2]

ompl_interface::ConstraintApproximationConstructionResults ompl_interface::ConstraintsLibrary::addConstraintApproximation	(	const moveit_msgs::msg::Constraints &	constr,
		const std::string &	group,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const ConstraintApproximationConstructionOptions &	options
	)

Definition at line 431 of file constraints_library.cpp.

◆ addConstraintApproximation() [2/2]

ompl_interface::ConstraintApproximationConstructionResults ompl_interface::ConstraintsLibrary::addConstraintApproximation	(	const moveit_msgs::msg::Constraints &	constr_sampling,
		const moveit_msgs::msg::Constraints &	constr_hard,
		const std::string &	group,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const ConstraintApproximationConstructionOptions &	options
	)

Definition at line 440 of file constraints_library.cpp.

◆ clearConstraintApproximations()

void ompl_interface::ConstraintsLibrary::clearConstraintApproximations ( )

Definition at line 399 of file constraints_library.cpp.

◆ getConstraintApproximation()

const ompl_interface::ConstraintApproximationPtr & ompl_interface::ConstraintsLibrary::getConstraintApproximation ( const moveit_msgs::msg::Constraints & msg ) const

Definition at line 420 of file constraints_library.cpp.

◆ loadConstraintApproximations()

void ompl_interface::ConstraintsLibrary::loadConstraintApproximations ( const std::string & path )

Definition at line 298 of file constraints_library.cpp.

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◆ printConstraintApproximations()

void ompl_interface::ConstraintsLibrary::printConstraintApproximations ( std::ostream & out = std::cout ) const

Definition at line 404 of file constraints_library.cpp.

◆ registerConstraintApproximation()

void ompl_interface::ConstraintsLibrary::registerConstraintApproximation ( const ConstraintApproximationPtr & approx )

inline

Definition at line 186 of file constraints_library.h.

◆ saveConstraintApproximations()

void ompl_interface::ConstraintsLibrary::saveConstraintApproximations ( const std::string & path )

Definition at line 366 of file constraints_library.cpp.

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

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp

Public Member Functions