moveit2
The MoveIt Motion Planning Framework for ROS 2.
constraint_sampler_tools.h
Go to the documentation of this file.
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Willow Garage, Inc.
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of Willow Garage nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
40 #include <visualization_msgs/msg/marker_array.hpp>
41 #include <rclcpp/rclcpp.hpp>
42 
43 namespace constraint_samplers
44 {
45 void visualizeDistribution(const ConstraintSamplerPtr& sampler, const moveit::core::RobotState& reference_state,
46  const std::string& link_name, unsigned int sample_count,
47  visualization_msgs::msg::MarkerArray& markers);
48 
49 void visualizeDistribution(const moveit_msgs::msg::Constraints& constr,
50  const planning_scene::PlanningSceneConstPtr& scene, const std::string& group,
51  const std::string& link_name, unsigned int sample_count,
52  visualization_msgs::msg::MarkerArray& markers);
53 
54 double countSamplesPerSecond(const ConstraintSamplerPtr& sampler, const moveit::core::RobotState& reference_state);
55 
56 double countSamplesPerSecond(const moveit_msgs::msg::Constraints& constr,
57  const planning_scene::PlanningSceneConstPtr& scene, const std::string& group);
58 } // namespace constraint_samplers
Representation of a robot's state. This includes position, velocity, acceleration and effort.
Definition: robot_state.h:90
The constraint samplers namespace contains a number of methods for generating samples based on a cons...
double countSamplesPerSecond(const ConstraintSamplerPtr &sampler, const moveit::core::RobotState &reference_state)
void visualizeDistribution(const ConstraintSamplerPtr &sampler, const moveit::core::RobotState &reference_state, const std::string &link_name, unsigned int sample_count, visualization_msgs::msg::MarkerArray &markers)
scene
Definition: pick.py:52