constraint_sampler.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/constraint_samplers/constraint_sampler.hpp>
#include <rclcpp/logger.hpp>
#include <rclcpp/logging.hpp>
#include <moveit/utils/logger.hpp>
 
namespace constraint_samplers
{
namespace
{
rclcpp::Logger getLogger()
{
  return moveit::getLogger("moveit.core.constraint_sampler");
}
}  // namespace
 
constraint_samplers::ConstraintSampler::ConstraintSampler(const planning_scene::PlanningSceneConstPtr& scene,
                                                          const std::string& group_name)
  : is_valid_(false), scene_(scene), jmg_(scene->getRobotModel()->getJointModelGroup(group_name)), verbose_(false)
{
  if (!jmg_)
  {
    RCLCPP_ERROR(getLogger(), "A JointModelGroup should have been specified for the constraint sampler");
  }
}
 
void constraint_samplers::ConstraintSampler::clear()
{
  is_valid_ = false;
  frame_depends_.clear();
}
}  // namespace constraint_samplers