constrained_sampler.hpp

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <ompl/base/StateSampler.h>
#include <moveit/constraint_samplers/constraint_sampler.hpp>
 
namespace ompl_interface
{
class ModelBasedPlanningContext;
 
class ConstrainedSampler : public ompl::base::StateSampler
{
public:
  ConstrainedSampler(const ModelBasedPlanningContext* pc, constraint_samplers::ConstraintSamplerPtr cs);
 
  void sampleUniform(ompl::base::State* state) override;
 
  void sampleUniformNear(ompl::base::State* state, const ompl::base::State* near, const double distance) override;
 
  void sampleGaussian(ompl::base::State* state, const ompl::base::State* mean, const double stdDev) override;
 
  double getConstrainedSamplingRate() const;
 
private:
  bool sampleC(ompl::base::State* state);
 
  const ModelBasedPlanningContext* planning_context_;
  ompl::base::StateSamplerPtr default_;
  constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
  moveit::core::RobotState work_state_;
  unsigned int constrained_success_;
  unsigned int constrained_failure_;
  double inv_dim_;
};
}  // namespace ompl_interface