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The MoveIt Motion Planning Framework for ROS 2.
union_constraint_sampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #pragma once
38 
40 #include <rclcpp/rclcpp.hpp>
41 
42 namespace constraint_samplers
43 {
58 {
59 public:
98  UnionConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
99  const std::vector<ConstraintSamplerPtr>& samplers);
100 
107  const std::vector<ConstraintSamplerPtr>& getSamplers() const
108  {
109  return samplers_;
110  }
111 
120  bool configure(const moveit_msgs::msg::Constraints& /*constr*/) override
121  {
122  return true;
123  }
124 
132  virtual bool canService(const moveit_msgs::msg::Constraints& /*constr*/) const
133  {
134  return true;
135  }
136 
152  bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
153  unsigned int max_attempts) override;
154 
155  bool project(moveit::core::RobotState& state, unsigned int max_attempts) override;
156 
162  const std::string& getName() const override
163  {
164  static const std::string SAMPLER_NAME = "UnionConstraintSampler";
165  return SAMPLER_NAME;
166  }
167 
168 protected:
169  std::vector<ConstraintSamplerPtr> samplers_;
170 };
171 } // namespace constraint_samplers
ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a parti...
This class exists as a union of constraint samplers. It contains a vector of constraint samplers,...
const std::string & getName() const override
Get the name of the constraint sampler, for debugging purposes should be in CamelCase format.
bool configure(const moveit_msgs::msg::Constraints &) override
No-op, as the union constraint sampler is for already configured samplers.
virtual bool canService(const moveit_msgs::msg::Constraints &) const
No-op, as the union constraint sampler can act on anything.
bool sample(moveit::core::RobotState &state, const moveit::core::RobotState &reference_state, unsigned int max_attempts) override
Produces a sample from all configured samplers.
std::vector< ConstraintSamplerPtr > samplers_
Holder for sorted internal list of samplers.
bool project(moveit::core::RobotState &state, unsigned int max_attempts) override
Project a sample given the constraints, updating the joint state group. This function allows the para...
const std::vector< ConstraintSamplerPtr > & getSamplers() const
Gets the sorted internal list of constraint samplers.
UnionConstraintSampler(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const std::vector< ConstraintSamplerPtr > &samplers)
Constructor, which will re-order its internal list of samplers on construction.
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...
scene
Definition: pick.py:52