void ompl_interface_ros::OMPLInterfaceROS::loadParams()
{
ROS_INFO("Initializing OMPL interface using ROS parameters");
loadPlannerConfigurations();
loadConstraintApproximations();
loadConstraintSamplers();
}
ompl_interface::OMPLInterface::OMPLInterface(const robot_model::RobotModelConstPtr &kmodel, const planning_interface::PlannerConfigurationMap &pconfig, const ros::NodeHandle &nh) :
nh_(nh),
kmodel_(kmodel),
constraint_sampler_manager_(new constraint_samplers::ConstraintSamplerManager()),
context_manager_(kmodel, constraint_sampler_manager_),
constraints_library_(new ConstraintsLibrary(context_manager_)),
use_constraints_approximations_(true),
simplify_solutions_(true)
{
ROS_INFO("Initializing OMPL interface using specified configuration");
setPlannerConfigurations(pconfig);
loadConstraintApproximations();
loadConstraintSamplers();
}
