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();
}
}
}
