moveit2
The MoveIt Motion Planning Framework for ROS 2.
projection_evaluators.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
39 #include <ompl/config.h>
40 #include <ompl/base/ProjectionEvaluator.h>
42 
43 // TODO: remove when ROS Lunar and older are no longer supported
44 #if OMPL_VERSION_VALUE >= 1004000 // Version greater than 1.4.0
45 typedef Eigen::Ref<Eigen::VectorXd> OMPLProjection;
46 #else // All other versions
47 typedef ompl::base::EuclideanProjection& OMPLProjection;
48 #endif
49 
50 namespace ompl_interface
51 {
52 class ModelBasedPlanningContext;
53 
56 class ProjectionEvaluatorLinkPose : public ompl::base::ProjectionEvaluator
57 {
58 public:
59  ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext* pc, const std::string& link);
60 
61  unsigned int getDimension() const override;
62  void defaultCellSizes() override;
63  void project(const ompl::base::State* state, OMPLProjection projection) const override;
64 
65 private:
66  const ModelBasedPlanningContext* planning_context_;
67  const moveit::core::LinkModel* link_;
68  TSStateStorage tss_;
69 };
70 
73 class ProjectionEvaluatorJointValue : public ompl::base::ProjectionEvaluator
74 {
75 public:
76  ProjectionEvaluatorJointValue(const ModelBasedPlanningContext* pc, std::vector<unsigned int> variables);
77 
78  unsigned int getDimension() const override;
79  void defaultCellSizes() override;
80  void project(const ompl::base::State* state, OMPLProjection projection) const override;
81 
82 private:
83  std::vector<unsigned int> variables_;
84 };
85 } // namespace ompl_interface
A link from the robot. Contains the constant transform applied to the link and its geometry.
Definition: link_model.h:72
void project(const ompl::base::State *state, OMPLProjection projection) const override
ProjectionEvaluatorJointValue(const ModelBasedPlanningContext *pc, std::vector< unsigned int > variables)
ProjectionEvaluatorLinkPose(const ModelBasedPlanningContext *pc, const std::string &link)
void project(const ompl::base::State *state, OMPLProjection projection) const override
The MoveIt interface to OMPL.
ompl::base::EuclideanProjection & OMPLProjection