moveit2
The MoveIt Motion Planning Framework for ROS 2.
constraint_sampler_allocator.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
41 #include <rclcpp/rclcpp.hpp>
42 
43 namespace constraint_samplers
44 {
45 MOVEIT_CLASS_FORWARD(ConstraintSamplerAllocator); // Defines ConstraintSamplerAllocatorPtr, ConstPtr, WeakPtr... etc
46 
48 {
49 public:
51  {
52  }
53 
55  {
56  }
57 
58  virtual ConstraintSamplerPtr alloc(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
59  const moveit_msgs::msg::Constraints& constr) = 0;
60 
61  virtual bool canService(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
62  const moveit_msgs::msg::Constraints& constr) const = 0;
63 };
64 } // namespace constraint_samplers
virtual bool canService(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::msg::Constraints &constr) const =0
virtual ConstraintSamplerPtr alloc(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::msg::Constraints &constr)=0
The constraint samplers namespace contains a number of methods for generating samples based on a cons...
MOVEIT_CLASS_FORWARD(ConstraintSampler)
scene
Definition: pick.py:52