ompl_interface::ConstraintsLibrary Class Reference

#include <constraints_library.h>

Public Member Functions
	ConstraintsLibrary (ModelBasedPlanningContext *pcontext)
void	loadConstraintApproximations (const std::string &path)
void	saveConstraintApproximations (const std::string &path)
ConstraintApproximationConstructionResults	addConstraintApproximation (const moveit_msgs::msg::Constraints &constr_sampling, const moveit_msgs::msg::Constraints &constr_hard, const std::string &group, const planning_scene::PlanningSceneConstPtr &scene, const ConstraintApproximationConstructionOptions &options)
ConstraintApproximationConstructionResults	addConstraintApproximation (const moveit_msgs::msg::Constraints &constr, const std::string &group, const planning_scene::PlanningSceneConstPtr &scene, const ConstraintApproximationConstructionOptions &options)
void	printConstraintApproximations (std::ostream &out=std::cout) const
void	clearConstraintApproximations ()
void	registerConstraintApproximation (const ConstraintApproximationPtr &approx)
const ConstraintApproximationPtr &	getConstraintApproximation (const moveit_msgs::msg::Constraints &msg) const

Detailed Description

Definition at line 161 of file constraints_library.h.

Constructor & Destructor Documentation

ConstraintsLibrary()

ompl_interface::ConstraintsLibrary::ConstraintsLibrary ( ModelBasedPlanningContext *  pcontext )

inline

Definition at line 164 of file constraints_library.h.

Member Function Documentation

addConstraintApproximation() [1/2]

ConstraintApproximationConstructionResults ompl_interface::ConstraintsLibrary::addConstraintApproximation	(	const moveit_msgs::msg::Constraints &	constr,
		const std::string &	group,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const ConstraintApproximationConstructionOptions &	options
	)

Definition at line 415 of file constraints_library.cpp.

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addConstraintApproximation() [2/2]

ConstraintApproximationConstructionResults ompl_interface::ConstraintsLibrary::addConstraintApproximation	(	const moveit_msgs::msg::Constraints &	constr_sampling,
		const moveit_msgs::msg::Constraints &	constr_hard,
		const std::string &	group,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const ConstraintApproximationConstructionOptions &	options
	)

Definition at line 422 of file constraints_library.cpp.

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clearConstraintApproximations()

void ompl_interface::ConstraintsLibrary::clearConstraintApproximations

(

)

Definition at line 383 of file constraints_library.cpp.

getConstraintApproximation()

const ConstraintApproximationPtr & ompl_interface::ConstraintsLibrary::getConstraintApproximation

(

const moveit_msgs::msg::Constraints &

msg

)

const

Definition at line 404 of file constraints_library.cpp.

loadConstraintApproximations()

void ompl_interface::ConstraintsLibrary::loadConstraintApproximations

(

const std::string &

path

)

Definition at line 277 of file constraints_library.cpp.

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printConstraintApproximations()

void ompl_interface::ConstraintsLibrary::printConstraintApproximations

(

std::ostream &

out = std::cout

)

const

Definition at line 388 of file constraints_library.cpp.

registerConstraintApproximation()

void ompl_interface::ConstraintsLibrary::registerConstraintApproximation ( const ConstraintApproximationPtr &  approx )

inline

Definition at line 186 of file constraints_library.h.

saveConstraintApproximations()

void ompl_interface::ConstraintsLibrary::saveConstraintApproximations

(

const std::string &

path

)

Definition at line 346 of file constraints_library.cpp.

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

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