moveit2
The MoveIt Motion Planning Framework for ROS 2.
Loading...
Searching...
No Matches
constraint_sampler_allocator.h
Go to the documentation of this file.
1/*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Willow Garage, Inc.
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of Willow Garage nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34
35/* Author: Ioan Sucan */
36
37#pragma once
38
41#include <rclcpp/rclcpp.hpp>
42
43namespace constraint_samplers
44{
45MOVEIT_CLASS_FORWARD(ConstraintSamplerAllocator); // Defines ConstraintSamplerAllocatorPtr, ConstPtr, WeakPtr... etc
46
48{
49public:
53
55 {
56 }
57
58 virtual ConstraintSamplerPtr alloc(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
59 const moveit_msgs::msg::Constraints& constr) = 0;
60
61 virtual bool canService(const planning_scene::PlanningSceneConstPtr& scene, const std::string& group_name,
62 const moveit_msgs::msg::Constraints& constr) const = 0;
63};
64} // namespace constraint_samplers
#define MOVEIT_CLASS_FORWARD(C)
virtual bool canService(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::msg::Constraints &constr) const =0
virtual ConstraintSamplerPtr alloc(const planning_scene::PlanningSceneConstPtr &scene, const std::string &group_name, const moveit_msgs::msg::Constraints &constr)=0
The constraint samplers namespace contains a number of methods for generating samples based on a cons...