The constraint samplers namespace contains a number of methods for generating samples based on a constraint or set of constraints. More...

Classes
class	ConstraintSampler
	ConstraintSampler is an abstract base class that allows the sampling of a kinematic state for a particular group of a robot. More...

class	ConstraintSamplerAllocator

class	ConstraintSamplerManager
	This class assists in the generation of a ConstraintSampler for a particular group from a moveit_msgs::msg::Constraints. More...

class	IKConstraintSampler
	A class that allows the sampling of IK constraints. More...

struct	IKSamplingPose
	A structure for potentially holding a position constraint and an orientation constraint for use during Ik Sampling. More...

class	JointConstraintSampler
	JointConstraintSampler is a class that allows the sampling of joints in a particular group of the robot, subject to a set of individual joint constraints. More...

struct	OrderSamplers

class	UnionConstraintSampler
	This class exists as a union of constraint samplers. It contains a vector of constraint samplers, and will sample from each of them. More...

Functions
	MOVEIT_CLASS_FORWARD (ConstraintSampler)

	MOVEIT_CLASS_FORWARD (ConstraintSamplerAllocator)

	MOVEIT_CLASS_FORWARD (ConstraintSamplerManager)

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)

	MOVEIT_CLASS_FORWARD (JointConstraintSampler)

	MOVEIT_CLASS_FORWARD (IKConstraintSampler)

Detailed Description

The constraint samplers namespace contains a number of methods for generating samples based on a constraint or set of constraints.

It intended for use by any algorithm that requires a constraint-aware sampling strategy.

Function Documentation

double constraint_samplers::countSamplesPerSecond	(	const ConstraintSamplerPtr &	sampler,
		const moveit::core::RobotState &	reference_state
	)

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double constraint_samplers::countSamplesPerSecond	(	const moveit_msgs::msg::Constraints &	constr,
		const planning_scene::PlanningSceneConstPtr &	scene,
		const std::string &	group
	)

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constraint_samplers::MOVEIT_CLASS_FORWARD ( ConstraintSampler )

constraint_samplers::MOVEIT_CLASS_FORWARD ( ConstraintSamplerAllocator )

constraint_samplers::MOVEIT_CLASS_FORWARD ( ConstraintSamplerManager )

constraint_samplers::MOVEIT_CLASS_FORWARD ( IKConstraintSampler )

constraint_samplers::MOVEIT_CLASS_FORWARD ( JointConstraintSampler )

void constraint_samplers::visualizeDistribution	(	const ConstraintSamplerPtr &	sampler,
		const moveit::core::RobotState &	reference_state,
		const std::string &	link_name,
		unsigned int	sample_count,
		visualization_msgs::msg::MarkerArray &	markers
	)

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void constraint_samplers::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
	)

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