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 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 ROS parameters"); loadPlannerConfigurations(); loadConstraintApproximations(); loadConstraintSamplers(); }