joint_model_state_space_factory.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/ompl_interface/parameterization/joint_space/joint_model_state_space_factory.h>
#include <moveit/ompl_interface/parameterization/joint_space/joint_model_state_space.h>
 
ompl_interface::JointModelStateSpaceFactory::JointModelStateSpaceFactory() : ModelBasedStateSpaceFactory()
{
  type_ = JointModelStateSpace::PARAMETERIZATION_TYPE;
}
 
int ompl_interface::JointModelStateSpaceFactory::canRepresentProblem(
    const std::string& /*group*/, const moveit_msgs::msg::MotionPlanRequest& /*req*/,
    const moveit::core::RobotModelConstPtr& /*robot_model*/) const
{
  return 100;
}
 
ompl_interface::ModelBasedStateSpacePtr
ompl_interface::JointModelStateSpaceFactory::allocStateSpace(const ModelBasedStateSpaceSpecification& space_spec) const
{
  return std::make_shared<JointModelStateSpace>(space_spec);
}