union_constraint_sampler.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/constraint_samplers/constraint_sampler.h>
#include <rclcpp/rclcpp.hpp>
 
namespace constraint_samplers
{
class UnionConstraintSampler : public ConstraintSampler
{
public:
  UnionConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
                         const std::vector<ConstraintSamplerPtr>& samplers);
 
  const std::vector<ConstraintSamplerPtr>& getSamplers() const
  {
    return samplers_;
  }
 
  bool configure(const moveit_msgs::msg::Constraints& /*constr*/) override
  {
    return true;
  }
 
  virtual bool canService(const moveit_msgs::msg::Constraints& /*constr*/) const
  {
    return true;
  }
 
  bool sample(moveit::core::RobotState& state, const moveit::core::RobotState& reference_state,
              unsigned int max_attempts) override;
 
  bool project(moveit::core::RobotState& state, unsigned int max_attempts) override;
 
  const std::string& getName() const override
  {
    static const std::string SAMPLER_NAME = "UnionConstraintSampler";
    return SAMPLER_NAME;
  }
 
protected:
  std::vector<ConstraintSamplerPtr> samplers_; 
};
}  // namespace constraint_samplers