#include <constraint_approximations.h>

Collaboration diagram for ompl_interface::ConstraintApproximation:

Public Member Functions
	ConstraintApproximation (const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory, const std::string &serialization, const std::string &filename, const ompl::base::StateStoragePtr &storage)

	ConstraintApproximation (const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory, const moveit_msgs::msg::Constraints &msg, const std::string &filename, const ompl::base::StateStoragePtr &storage)

void	visualizeDistribution (const std::string &link_name, unsigned int count, visualization_msgs::msg::MarkerArray &arr) const

	ConstraintApproximation (std::string group, std::string state_space_parameterization, bool explicit_motions, moveit_msgs::msg::Constraints msg, std::string filename, ompl::base::StateStoragePtr storage, std::size_t milestones=0)

virtual	~ConstraintApproximation ()

const std::string &	getName () const

ompl::base::StateSamplerAllocator	getStateSamplerAllocator (const moveit_msgs::msg::Constraints &msg) const

InterpolationFunction	getInterpolationFunction () const

const std::vector< int > &	getSpaceSignature () const

const std::string &	getGroup () const

bool	hasExplicitMotions () const

std::size_t	getMilestoneCount () const

const std::string &	getStateSpaceParameterization () const

const moveit_msgs::msg::Constraints &	getConstraintsMsg () const

const ompl::base::StateStoragePtr &	getStateStorage () const

const std::string &	getFilename () const

Public Attributes
std::string	group_

std::string	factory_

std::string	serialization_

moveit_msgs::msg::Constraints	constraint_msg_

planning_models::RobotModelConstPtr	robot_model_

kinematic_constraints::KinematicConstraintSetPtr	kconstraints_set_

std::vector< int >	space_signature_

std::string	ompldb_filename_

ompl::base::StateStoragePtr	state_storage_ptr_

ConstraintApproximationStateStorage *	state_storage_

Protected Attributes
std::string	state_space_parameterization_

bool	explicit_motions_

std::size_t	milestones_

Detailed Description

Definition at line 50 of file constraint_approximations.h.

Constructor & Destructor Documentation

◆ ConstraintApproximation() [1/3]

ompl_interface::ConstraintApproximation::ConstraintApproximation	(	const planning_models::RobotModelConstPtr &	kinematic_model,
		const std::string &	group,
		const std::string &	factory,
		const std::string &	serialization,
		const std::string &	filename,
		const ompl::base::StateStoragePtr &	storage
	)

◆ ConstraintApproximation() [2/3]

ompl_interface::ConstraintApproximation::ConstraintApproximation	(	const planning_models::RobotModelConstPtr &	kinematic_model,
		const std::string &	group,
		const std::string &	factory,
		const moveit_msgs::msg::Constraints &	msg,
		const std::string &	filename,
		const ompl::base::StateStoragePtr &	storage
	)

◆ ConstraintApproximation() [3/3]

ompl_interface::ConstraintApproximation::ConstraintApproximation	(	std::string	group,
		std::string	state_space_parameterization,
		bool	explicit_motions,
		moveit_msgs::msg::Constraints	msg,
		std::string	filename,
		ompl::base::StateStoragePtr	storage,
		std::size_t	milestones = `0`
	)

Definition at line 228 of file constraints_library.cpp.

◆ ~ConstraintApproximation()

virtual ompl_interface::ConstraintApproximation::~ConstraintApproximation ( )

inlinevirtual

Definition at line 61 of file constraints_library.h.

Member Function Documentation

◆ getConstraintsMsg()

const moveit_msgs::msg::Constraints& ompl_interface::ConstraintApproximation::getConstraintsMsg ( ) const

inline

Definition at line 99 of file constraints_library.h.

◆ getFilename()

const std::string& ompl_interface::ConstraintApproximation::getFilename ( ) const

inline

Definition at line 109 of file constraints_library.h.

◆ getGroup()

const std::string& ompl_interface::ConstraintApproximation::getGroup ( ) const

inline

Definition at line 79 of file constraints_library.h.

◆ getInterpolationFunction()

ompl_interface::InterpolationFunction ompl_interface::ConstraintApproximation::getInterpolationFunction ( ) const

Definition at line 204 of file constraints_library.cpp.

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◆ getMilestoneCount()

std::size_t ompl_interface::ConstraintApproximation::getMilestoneCount ( ) const

inline

Definition at line 89 of file constraints_library.h.

◆ getName()

const std::string& ompl_interface::ConstraintApproximation::getName ( ) const

inline

Definition at line 65 of file constraints_library.h.

◆ getSpaceSignature()

const std::vector<int>& ompl_interface::ConstraintApproximation::getSpaceSignature ( ) const

inline

Definition at line 74 of file constraints_library.h.

◆ getStateSamplerAllocator()

ompl::base::StateSamplerAllocator ompl_interface::ConstraintApproximation::getStateSamplerAllocator ( const moveit_msgs::msg::Constraints & msg ) const

Definition at line 247 of file constraints_library.cpp.

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◆ getStateSpaceParameterization()

const std::string& ompl_interface::ConstraintApproximation::getStateSpaceParameterization ( ) const

inline

Definition at line 94 of file constraints_library.h.

◆ getStateStorage()

const ompl::base::StateStoragePtr& ompl_interface::ConstraintApproximation::getStateStorage ( ) const

inline

Definition at line 104 of file constraints_library.h.

◆ hasExplicitMotions()

bool ompl_interface::ConstraintApproximation::hasExplicitMotions ( ) const

inline

Definition at line 84 of file constraints_library.h.

◆ visualizeDistribution()

void ompl_interface::ConstraintApproximation::visualizeDistribution	(	const std::string &	link_name,
		unsigned int	count,
		visualization_msgs::msg::MarkerArray &	arr
	)		const

Member Data Documentation

◆ constraint_msg_

moveit_msgs::msg::Constraints ompl_interface::ConstraintApproximation::constraint_msg_

Definition at line 65 of file constraint_approximations.h.

◆ explicit_motions_

bool ompl_interface::ConstraintApproximation::explicit_motions_

protected

Definition at line 117 of file constraints_library.h.

◆ factory_

std::string ompl_interface::ConstraintApproximation::factory_

Definition at line 63 of file constraint_approximations.h.

◆ group_

std::string ompl_interface::ConstraintApproximation::group_

Definition at line 62 of file constraint_approximations.h.

◆ kconstraints_set_

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ConstraintApproximation::kconstraints_set_

Definition at line 67 of file constraint_approximations.h.

◆ milestones_

std::size_t ompl_interface::ConstraintApproximation::milestones_

protected

Definition at line 126 of file constraints_library.h.

◆ ompldb_filename_

std::string ompl_interface::ConstraintApproximation::ompldb_filename_

Definition at line 70 of file constraint_approximations.h.

◆ robot_model_

planning_models::RobotModelConstPtr ompl_interface::ConstraintApproximation::robot_model_

Definition at line 66 of file constraint_approximations.h.

◆ serialization_

std::string ompl_interface::ConstraintApproximation::serialization_

Definition at line 64 of file constraint_approximations.h.

◆ space_signature_

std::vector< int > ompl_interface::ConstraintApproximation::space_signature_

Definition at line 68 of file constraint_approximations.h.

◆ state_space_parameterization_

std::string ompl_interface::ConstraintApproximation::state_space_parameterization_

protected

Definition at line 116 of file constraints_library.h.

◆ state_storage_

ConstraintApproximationStateStorage * ompl_interface::ConstraintApproximation::state_storage_

Definition at line 72 of file constraint_approximations.h.

◆ state_storage_ptr_

ompl::base::StateStoragePtr ompl_interface::ConstraintApproximation::state_storage_ptr_

Definition at line 71 of file constraint_approximations.h.

The documentation for this class was generated from the following files:

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraint_approximations.h
moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.h
moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp

Public Member Functions

Public Attributes

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ConstraintApproximation() [1/3]

◆ ConstraintApproximation() [2/3]

◆ ConstraintApproximation() [3/3]

◆ ~ConstraintApproximation()

Member Function Documentation

◆ getConstraintsMsg()

◆ getFilename()

◆ getGroup()

◆ getInterpolationFunction()

◆ getMilestoneCount()

◆ getName()

◆ getSpaceSignature()

◆ getStateSamplerAllocator()

◆ getStateSpaceParameterization()

◆ getStateStorage()

◆ hasExplicitMotions()

◆ visualizeDistribution()

Member Data Documentation

◆ constraint_msg_

◆ explicit_motions_

◆ factory_

◆ group_

◆ kconstraints_set_

◆ milestones_

◆ ompldb_filename_

◆ robot_model_

◆ serialization_

◆ space_signature_

◆ state_space_parameterization_

◆ state_storage_

◆ state_storage_ptr_