constraint_sampler.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/planning_scene/planning_scene.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <vector>
#include <rclcpp/rclcpp.hpp>
namespace constraint_samplers
{
MOVEIT_CLASS_FORWARD(ConstraintSampler);  // Defines ConstraintSamplerPtr, ConstPtr, WeakPtr... etc
 
class ConstraintSampler
{
public:
  static const unsigned int DEFAULT_MAX_SAMPLING_ATTEMPTS = 2;
 
  ConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name);
 
  virtual ~ConstraintSampler()
  {
  }
 
  virtual bool configure(const moveit_msgs::msg::Constraints& constr) = 0;
 
  const std::string& getGroupName() const
  {
    return getJointModelGroup()->getName();
  }
 
  const moveit::core::JointModelGroup* getJointModelGroup() const
  {
    return jmg_;
  }
 
  const planning_scene::PlanningSceneConstPtr& getPlanningScene() const
  {
    return scene_;
  }
 
  const std::vector<std::string>& getFrameDependency() const
  {
    return frame_depends_;
  }
 
  const moveit::core::GroupStateValidityCallbackFn& getGroupStateValidityCallback() const
  {
    return group_state_validity_callback_;
  }
 
  void setGroupStateValidityCallback(const moveit::core::GroupStateValidityCallbackFn& callback)
  {
    group_state_validity_callback_ = callback;
  }
 
  bool sample(moveit::core::RobotState& state)
  {
    return sample(state, state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
  }
 
  bool sample(moveit::core::RobotState& state, unsigned int max_attempts)
  {
    return sample(state, state, max_attempts);
  }
 
  bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state)
  {
    return sample(state, reference_state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
  }
 
  bool project(moveit::core::RobotState& state)
  {
    return project(state, DEFAULT_MAX_SAMPLING_ATTEMPTS);
  }
 
  virtual bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
                      unsigned int max_attempts) = 0;
 
  virtual bool project(moveit::core::RobotState& state, unsigned int max_attempts) = 0;
 
  bool isValid() const
  {
    return is_valid_;
  }
 
  bool getVerbose() const
  {
    return verbose_;
  }
 
  virtual void setVerbose(bool verbose)
  {
    verbose_ = verbose;
  }
 
  virtual const std::string& getName() const = 0;
 
protected:
  virtual void clear();
 
  bool is_valid_;  
 
  planning_scene::PlanningSceneConstPtr scene_;
  const moveit::core::JointModelGroup* const jmg_;
  std::vector<std::string> frame_depends_;
  moveit::core::GroupStateValidityCallbackFn group_state_validity_callback_;
  bool verbose_;  
};
}  // namespace constraint_samplers