constraint_sampler_tools.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <moveit/constraint_samplers/constraint_sampler.h>
#include <visualization_msgs/msg/marker_array.hpp>
#include <rclcpp/rclcpp.hpp>
 
namespace constraint_samplers
{
void visualizeDistribution(const ConstraintSamplerPtr& sampler, const moveit::core::RobotState& reference_state,
                           const std::string& link_name, unsigned int sample_count,
                           visualization_msgs::msg::MarkerArray& markers);
 
void visualizeDistribution(const moveit_msgs::msg::Constraints& constr,
                           const planning_scene::PlanningSceneConstPtr& scene, const std::string& group,
                           const std::string& link_name, unsigned int sample_count,
                           visualization_msgs::msg::MarkerArray& markers);
 
double countSamplesPerSecond(const ConstraintSamplerPtr& sampler, const moveit::core::RobotState& reference_state);
 
double countSamplesPerSecond(const moveit_msgs::msg::Constraints& constr,
                             const planning_scene::PlanningSceneConstPtr& scene, const std::string& group);
}  // namespace constraint_samplers