constrained_planning_state_space.h

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/* Author: Jeroen De Maeyer */
 
#pragma once
 
#include <moveit/macros/class_forward.h>
#include <moveit/ompl_interface/parameterization/model_based_state_space.h>
 
namespace ompl_interface
{
MOVEIT_CLASS_FORWARD(ConstrainedPlanningStateSpace);
 
class ConstrainedPlanningStateSpace : public ModelBasedStateSpace
{
public:
  static const std::string PARAMETERIZATION_TYPE;
 
  ConstrainedPlanningStateSpace(const ModelBasedStateSpaceSpecification& spec);
 
  const std::string& getParameterizationType() const override
  {
    return PARAMETERIZATION_TYPE;
  }
 
  // override copy operations between OMPL and ROS, because a constrained state has a different internal structure
  double* getValueAddressAtIndex(ompl::base::State* ompl_state, const unsigned int index) const override;
  void copyToRobotState(moveit::core::RobotState& robot_state, const ompl::base::State* ompl_state) const override;
  void copyToOMPLState(ompl::base::State* ompl_state, const moveit::core::RobotState& robot_state) const override;
  void copyJointToOMPLState(ompl::base::State* ompl_state, const moveit::core::RobotState& robot_state,
                            const moveit::core::JointModel* joint_model, int ompl_state_joint_index) const override;
};
}  // namespace ompl_interface