constraint_sampler_manager.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/constraint_samplers/constraint_sampler_allocator.h>
#include <moveit/macros/class_forward.h>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/clock.hpp>
#include <rclcpp/duration.hpp>
 
namespace constraint_samplers
{
MOVEIT_CLASS_FORWARD(ConstraintSamplerManager);  // Defines ConstraintSamplerManagerPtr, ConstPtr, WeakPtr... etc
 
class ConstraintSamplerManager
{
public:
  ConstraintSamplerManager()
  {
  }
  void registerSamplerAllocator(const ConstraintSamplerAllocatorPtr& sa)
  {
    sampler_alloc_.push_back(sa);
  }
  ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
                                     const moveit_msgs::msg::Constraints& constr) const;
 
  static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr& scene,
                                                   const std::string& group_name,
                                                   const moveit_msgs::msg::Constraints& constr);
 
private:
  std::vector<ConstraintSamplerAllocatorPtr>
      sampler_alloc_; 
};
}  // namespace constraint_samplers