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The MoveIt Motion Planning Framework for ROS 2.
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Public Member Functions | Public Attributes | Protected Attributes | List of all members
ompl_interface::ConstraintApproximation Class Reference

#include <constraint_approximations.h>

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Public Member Functions

 ConstraintApproximation (const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory, const std::string &serialization, const std::string &filename, const ompl::base::StateStoragePtr &storage)
 
 ConstraintApproximation (const planning_models::RobotModelConstPtr &kinematic_model, const std::string &group, const std::string &factory, const moveit_msgs::msg::Constraints &msg, const std::string &filename, const ompl::base::StateStoragePtr &storage)
 
void visualizeDistribution (const std::string &link_name, unsigned int count, visualization_msgs::msg::MarkerArray &arr) const
 
 ConstraintApproximation (std::string group, std::string state_space_parameterization, bool explicit_motions, moveit_msgs::msg::Constraints msg, std::string filename, ompl::base::StateStoragePtr storage, std::size_t milestones=0)
 
virtual ~ConstraintApproximation ()
 
const std::string & getName () const
 
ompl::base::StateSamplerAllocator getStateSamplerAllocator (const moveit_msgs::msg::Constraints &msg) const
 
InterpolationFunction getInterpolationFunction () const
 
const std::vector< int > & getSpaceSignature () const
 
const std::string & getGroup () const
 
bool hasExplicitMotions () const
 
std::size_t getMilestoneCount () const
 
const std::string & getStateSpaceParameterization () const
 
const moveit_msgs::msg::Constraints & getConstraintsMsg () const
 
const ompl::base::StateStoragePtr & getStateStorage () const
 
const std::string & getFilename () const
 

Public Attributes

std::string group_
 
std::string factory_
 
std::string serialization_
 
moveit_msgs::msg::Constraints constraint_msg_
 
planning_models::RobotModelConstPtr robot_model_
 
kinematic_constraints::KinematicConstraintSetPtr kconstraints_set_
 
std::vector< int > space_signature_
 
std::string ompldb_filename_
 
ompl::base::StateStoragePtr state_storage_ptr_
 
ConstraintApproximationStateStorage * state_storage_
 

Protected Attributes

std::string state_space_parameterization_
 
bool explicit_motions_
 
std::size_t milestones_
 

Detailed Description

Definition at line 50 of file constraint_approximations.h.

Constructor & Destructor Documentation

◆ ConstraintApproximation() [1/3]

ompl_interface::ConstraintApproximation::ConstraintApproximation ( const planning_models::RobotModelConstPtr &  kinematic_model,
const std::string &  group,
const std::string &  factory,
const std::string &  serialization,
const std::string &  filename,
const ompl::base::StateStoragePtr &  storage 
)

◆ ConstraintApproximation() [2/3]

ompl_interface::ConstraintApproximation::ConstraintApproximation ( const planning_models::RobotModelConstPtr &  kinematic_model,
const std::string &  group,
const std::string &  factory,
const moveit_msgs::msg::Constraints &  msg,
const std::string &  filename,
const ompl::base::StateStoragePtr &  storage 
)

◆ ConstraintApproximation() [3/3]

ompl_interface::ConstraintApproximation::ConstraintApproximation ( std::string  group,
std::string  state_space_parameterization,
bool  explicit_motions,
moveit_msgs::msg::Constraints  msg,
std::string  filename,
ompl::base::StateStoragePtr  storage,
std::size_t  milestones = 0 
)

Definition at line 249 of file constraints_library.cpp.

◆ ~ConstraintApproximation()

virtual ompl_interface::ConstraintApproximation::~ConstraintApproximation ( )
inlinevirtual

Definition at line 61 of file constraints_library.h.

Member Function Documentation

◆ getConstraintsMsg()

const moveit_msgs::msg::Constraints & ompl_interface::ConstraintApproximation::getConstraintsMsg ( ) const
inline

Definition at line 99 of file constraints_library.h.

◆ getFilename()

const std::string & ompl_interface::ConstraintApproximation::getFilename ( ) const
inline

Definition at line 109 of file constraints_library.h.

◆ getGroup()

const std::string & ompl_interface::ConstraintApproximation::getGroup ( ) const
inline

Definition at line 79 of file constraints_library.h.

◆ getInterpolationFunction()

InterpolationFunction ompl_interface::ConstraintApproximation::getInterpolationFunction ( ) const

Definition at line 220 of file constraints_library.cpp.

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◆ getMilestoneCount()

std::size_t ompl_interface::ConstraintApproximation::getMilestoneCount ( ) const
inline

Definition at line 89 of file constraints_library.h.

◆ getName()

const std::string & ompl_interface::ConstraintApproximation::getName ( ) const
inline

Definition at line 65 of file constraints_library.h.

◆ getSpaceSignature()

const std::vector< int > & ompl_interface::ConstraintApproximation::getSpaceSignature ( ) const
inline

Definition at line 74 of file constraints_library.h.

◆ getStateSamplerAllocator()

ompl::base::StateSamplerAllocator ompl_interface::ConstraintApproximation::getStateSamplerAllocator ( const moveit_msgs::msg::Constraints &  msg) const

Definition at line 268 of file constraints_library.cpp.

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◆ getStateSpaceParameterization()

const std::string & ompl_interface::ConstraintApproximation::getStateSpaceParameterization ( ) const
inline

Definition at line 94 of file constraints_library.h.

◆ getStateStorage()

const ompl::base::StateStoragePtr & ompl_interface::ConstraintApproximation::getStateStorage ( ) const
inline

Definition at line 104 of file constraints_library.h.

◆ hasExplicitMotions()

bool ompl_interface::ConstraintApproximation::hasExplicitMotions ( ) const
inline

Definition at line 84 of file constraints_library.h.

◆ visualizeDistribution()

void ompl_interface::ConstraintApproximation::visualizeDistribution ( const std::string &  link_name,
unsigned int  count,
visualization_msgs::msg::MarkerArray &  arr 
) const

Member Data Documentation

◆ constraint_msg_

moveit_msgs::msg::Constraints ompl_interface::ConstraintApproximation::constraint_msg_

Definition at line 65 of file constraint_approximations.h.

◆ explicit_motions_

bool ompl_interface::ConstraintApproximation::explicit_motions_
protected

Definition at line 117 of file constraints_library.h.

◆ factory_

std::string ompl_interface::ConstraintApproximation::factory_

Definition at line 63 of file constraint_approximations.h.

◆ group_

std::string ompl_interface::ConstraintApproximation::group_

Definition at line 62 of file constraint_approximations.h.

◆ kconstraints_set_

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ConstraintApproximation::kconstraints_set_

Definition at line 67 of file constraint_approximations.h.

◆ milestones_

std::size_t ompl_interface::ConstraintApproximation::milestones_
protected

Definition at line 126 of file constraints_library.h.

◆ ompldb_filename_

std::string ompl_interface::ConstraintApproximation::ompldb_filename_

Definition at line 70 of file constraint_approximations.h.

◆ robot_model_

planning_models::RobotModelConstPtr ompl_interface::ConstraintApproximation::robot_model_

Definition at line 66 of file constraint_approximations.h.

◆ serialization_

std::string ompl_interface::ConstraintApproximation::serialization_

Definition at line 64 of file constraint_approximations.h.

◆ space_signature_

std::vector< int > ompl_interface::ConstraintApproximation::space_signature_

Definition at line 68 of file constraint_approximations.h.

◆ state_space_parameterization_

std::string ompl_interface::ConstraintApproximation::state_space_parameterization_
protected

Definition at line 116 of file constraints_library.h.

◆ state_storage_

ConstraintApproximationStateStorage * ompl_interface::ConstraintApproximation::state_storage_

Definition at line 72 of file constraint_approximations.h.

◆ state_storage_ptr_

ompl::base::StateStoragePtr ompl_interface::ConstraintApproximation::state_storage_ptr_

Definition at line 71 of file constraint_approximations.h.

The documentation for this class was generated from the following files:
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