ompl_interface::ConstraintApproximation Class Reference

#include <constraint_approximations.hpp>

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.hpp.

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 251 of file constraints_library.cpp.

~ConstraintApproximation()

virtual ompl_interface::ConstraintApproximation::~ConstraintApproximation ( )

inlinevirtual

Definition at line 61 of file constraints_library.hpp.

Member Function Documentation

getConstraintsMsg()

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

inline

Definition at line 99 of file constraints_library.hpp.

getFilename()

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

inline

Definition at line 109 of file constraints_library.hpp.

getGroup()

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

inline

Definition at line 79 of file constraints_library.hpp.

getInterpolationFunction()

InterpolationFunction ompl_interface::ConstraintApproximation::getInterpolationFunction

(

)

const

Definition at line 222 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.hpp.

getName()

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

inline

Definition at line 65 of file constraints_library.hpp.

getSpaceSignature()

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

inline

Definition at line 74 of file constraints_library.hpp.

getStateSamplerAllocator()

ompl::base::StateSamplerAllocator ompl_interface::ConstraintApproximation::getStateSamplerAllocator

(

const moveit_msgs::msg::Constraints &

msg

)

const

Definition at line 270 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.hpp.

getStateStorage()

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

inline

Definition at line 104 of file constraints_library.hpp.

hasExplicitMotions()

bool ompl_interface::ConstraintApproximation::hasExplicitMotions ( ) const

inline

Definition at line 84 of file constraints_library.hpp.

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.hpp.

explicit_motions_

bool ompl_interface::ConstraintApproximation::explicit_motions_

protected

Definition at line 117 of file constraints_library.hpp.

factory_

std::string ompl_interface::ConstraintApproximation::factory_

Definition at line 63 of file constraint_approximations.hpp.

group_

std::string ompl_interface::ConstraintApproximation::group_

Definition at line 62 of file constraint_approximations.hpp.

kconstraints_set_

kinematic_constraints::KinematicConstraintSetPtr ompl_interface::ConstraintApproximation::kconstraints_set_

Definition at line 67 of file constraint_approximations.hpp.

milestones_

std::size_t ompl_interface::ConstraintApproximation::milestones_

protected

Definition at line 126 of file constraints_library.hpp.

ompldb_filename_

std::string ompl_interface::ConstraintApproximation::ompldb_filename_

Definition at line 70 of file constraint_approximations.hpp.

robot_model_

planning_models::RobotModelConstPtr ompl_interface::ConstraintApproximation::robot_model_

Definition at line 66 of file constraint_approximations.hpp.

serialization_

std::string ompl_interface::ConstraintApproximation::serialization_

Definition at line 64 of file constraint_approximations.hpp.

space_signature_

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

Definition at line 68 of file constraint_approximations.hpp.

state_space_parameterization_

std::string ompl_interface::ConstraintApproximation::state_space_parameterization_

protected

Definition at line 116 of file constraints_library.hpp.

state_storage_

ConstraintApproximationStateStorage * ompl_interface::ConstraintApproximation::state_storage_

Definition at line 72 of file constraint_approximations.hpp.

state_storage_ptr_

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

Definition at line 71 of file constraint_approximations.hpp.

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

• moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraint_approximations.hpp
• moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constraints_library.hpp
• moveit_planners/ompl/ompl_interface/src/detail/constraints_library.cpp