moveit2
The MoveIt Motion Planning Framework for ROS 2.
constraint_sampler_manager.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
41 #include <rclcpp/rclcpp.hpp>
42 #include <rclcpp/clock.hpp>
43 #include <rclcpp/duration.hpp>
44 
45 namespace constraint_samplers
46 {
47 MOVEIT_CLASS_FORWARD(ConstraintSamplerManager); // Defines ConstraintSamplerManagerPtr, ConstPtr, WeakPtr... etc
48 
60 {
61 public:
67  {
68  }
74  void registerSamplerAllocator(const ConstraintSamplerAllocatorPtr& sa)
75  {
76  sampler_alloc_.push_back(sa);
77  }
94  ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
95  const moveit_msgs::msg::Constraints& constr) const;
96 
140  static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr& scene,
141  const std::string& group_name,
142  const moveit_msgs::msg::Constraints& constr);
143 
144 private:
145  std::vector<ConstraintSamplerAllocatorPtr>
146  sampler_alloc_;
147 };
148 } // namespace constraint_samplers
This class assists in the generation of a ConstraintSampler for a particular group from a moveit_msgs...
void registerSamplerAllocator(const ConstraintSamplerAllocatorPtr &sa)
Allows the user to specify an alternate ConstraintSamplerAllocation.
static ConstraintSamplerPtr selectDefaultSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::msg::Constraints &constr)
Default logic to select a ConstraintSampler given a constraints message.
ConstraintSamplerPtr selectSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::msg::Constraints &constr) const
Selects among the potential sampler allocators.
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