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GaussianValidStateSampler.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/samplers/GaussianValidStateSampler.h"
00038 #include "ompl/base/SpaceInformation.h"
00039 #include "ompl/tools/config/MagicConstants.h"
00040 
00041 ompl::base::GaussianValidStateSampler::GaussianValidStateSampler(const SpaceInformation *si) :
00042     ValidStateSampler(si), sampler_(si->allocStateSampler()), stddev_(si->getMaximumExtent() * magic::STD_DEV_AS_SPACE_EXTENT_FRACTION)
00043 {
00044     name_ = "gaussian";
00045 }
00046 
00047 bool ompl::base::GaussianValidStateSampler::sample(State *state)
00048 {
00049     bool result = false;
00050     unsigned int attempts = 0;
00051     State *temp = si_->allocState();
00052     do
00053     {
00054         sampler_->sampleUniform(state);
00055         bool v1 = si_->isValid(state);
00056         sampler_->sampleGaussian(temp, state, stddev_);
00057         bool v2 = si_->isValid(temp);
00058         if (v1 != v2)
00059         {
00060             if (v2)
00061                 si_->copyState(state, temp);
00062             result = true;
00063         }
00064         ++attempts;
00065     } while (!result && attempts < attempts_);
00066     si_->freeState(temp);
00067     return result;
00068 }
00069 
00070 bool ompl::base::GaussianValidStateSampler::sampleNear(State *state, const State *near, const double distance)
00071 {
00072     bool result = false;
00073     unsigned int attempts = 0;
00074     State *temp = si_->allocState();
00075     do
00076     {
00077         sampler_->sampleUniformNear(state, near, distance);
00078         bool v1 = si_->isValid(state);
00079         sampler_->sampleGaussian(temp, state, distance);
00080         bool v2 = si_->isValid(temp);
00081         if (v1 != v2)
00082         {
00083             if (v2)
00084                 si_->copyState(state, temp);
00085             result = true;
00086         }
00087         ++attempts;
00088     } while (!result && attempts < attempts_);
00089     si_->freeState(temp);
00090     return result;
00091 }