void insula::overlay::object::render( scene::render_pass::object const &) { sge::renderer::state::scoped scoped_state( renderer_, sge::renderer::state::list // We don't care about culling (sge::renderer::state::cull_mode::off) // ...and depth stuff, too (sge::renderer::state::depth_func::off)); graphics::shader::scoped scoped_shader_( quad_shader_); sge::renderer::scoped_vertex_buffer const scoped_vb_( renderer_, vb_); renderer_->render( sge::renderer::first_vertex( 0), sge::renderer::vertex_count( vb_->size()), sge::renderer::nonindexed_primitive_type::triangle); }
void OmplRosIKSampleableRegion::sampleGoals(const unsigned int &number_goals, std::vector<arm_navigation_msgs::RobotState> &sampled_states_vector) const { arm_navigation_msgs::RobotState seed_state,solution_state; seed_state = seed_state_; solution_state = solution_state_; ompl::base::ScopedState<ompl::base::CompoundStateSpace> scoped_state(state_space_); unsigned int ik_poses_counter = 0; for(unsigned int i=0; i < number_goals; i++) { //sample a state at random scoped_state.random(); ompl_ros_interface::omplStateToRobotState(scoped_state, ompl_state_to_robot_state_mapping_, seed_state); int error_code; if(kinematics_solver_->getPositionIK(ik_poses_[ik_poses_counter].pose, seed_state.joint_state.position, solution_state.joint_state.position, error_code)) { sampled_states_vector.push_back(solution_state); ik_poses_counter++; ik_poses_counter = ik_poses_counter%ik_poses_.size(); } } }