constrained_planning_state_space_factory.cpp

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/* Author: Jeroen De Maeyer */
/* Mostly copied from Ioan Sucan's code */
 
#include <moveit/ompl_interface/parameterization/joint_space/constrained_planning_state_space.h>
#include <moveit/ompl_interface/parameterization/joint_space/constrained_planning_state_space_factory.h>
 
namespace ompl_interface
{
ConstrainedPlanningStateSpaceFactory::ConstrainedPlanningStateSpaceFactory() : ModelBasedStateSpaceFactory()
{
  type_ = ConstrainedPlanningStateSpace::PARAMETERIZATION_TYPE;
}
 
int ConstrainedPlanningStateSpaceFactory::canRepresentProblem(
    const std::string& /*group*/, const moveit_msgs::msg::MotionPlanRequest& req,
    const moveit::core::RobotModelConstPtr& /*robot_model*/) const
{
  // If we have exactly one position or orientation constraint, prefer the constrained planning state space
  auto num_constraints =
      req.path_constraints.position_constraints.size() + req.path_constraints.orientation_constraints.size();
  if (num_constraints == 1 && req.path_constraints.joint_constraints.empty() &&
      req.path_constraints.visibility_constraints.empty())
  {
    return 200;
  }
  // Otherwise, return the lowest priority currently existing in the ompl interface.
  // This state space will only be selected if it is the only option to choose from.
  // See header file for more info.
  return -2;
}
 
ModelBasedStateSpacePtr ompl_interface::ConstrainedPlanningStateSpaceFactory::allocStateSpace(
    const ModelBasedStateSpaceSpecification& space_spec) const
{
  return std::make_shared<ConstrainedPlanningStateSpace>(space_spec);
}
}  // namespace ompl_interface