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StateSamplerArray.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_STATE_SAMPLER_ARRAY_
00038 #define OMPL_BASE_STATE_SAMPLER_ARRAY_
00039 
00040 #include "ompl/base/SpaceInformation.h"
00041 #include "ompl/base/StateSampler.h"
00042 #include "ompl/base/ValidStateSampler.h"
00043 #include <vector>
00044 
00045 namespace ompl
00046 {
00047     namespace base
00048     {
00049 
00054         template<typename T>
00055         struct SamplerSelector
00056         {
00057         };
00058 
00060         template<>
00061         struct SamplerSelector<StateSampler>
00062         {
00063             typedef StateSampler    Sampler;
00064             typedef StateSamplerPtr SamplerPtr;
00065 
00066             SamplerPtr allocStateSampler(const SpaceInformation *si)
00067             {
00068                 return si->allocStateSampler();
00069             }
00070 
00071         };
00072 
00073         template<>
00074         struct SamplerSelector<ValidStateSampler>
00075         {
00076             typedef ValidStateSampler    Sampler;
00077             typedef ValidStateSamplerPtr SamplerPtr;
00078 
00079             SamplerPtr allocStateSampler(const SpaceInformation *si)
00080             {
00081                 return si->allocValidStateSampler();
00082             }
00083         };
00087         template<typename T>
00088         class StateSamplerArray
00089         {
00090         public:
00091 
00093             typedef typename SamplerSelector<T>::SamplerPtr SamplerPtr;
00094 
00096             typedef typename SamplerSelector<T>::Sampler    Sampler;
00097 
00099             StateSamplerArray(const SpaceInformationPtr &si) : si_(si.get())
00100             {
00101             }
00102 
00104             StateSamplerArray(const SpaceInformation *si) : si_(si)
00105             {
00106             }
00107 
00108             ~StateSamplerArray(void)
00109             {
00110             }
00111 
00114             Sampler* operator[](std::size_t index) const
00115             {
00116                 return samplers_[index].get();
00117             }
00118 
00120             void resize(std::size_t count)
00121             {
00122                 if (samplers_.size() > count)
00123                     samplers_.resize(count);
00124                 else
00125                     if (samplers_.size() < count)
00126                     {
00127                         std::size_t c = samplers_.size();
00128                         samplers_.resize(count);
00129                         for (std::size_t i = c ; i < count ; ++i)
00130                             samplers_[i] = ss_.allocStateSampler(si_);
00131                     }
00132             }
00133 
00135             std::size_t size(void) const
00136             {
00137                 return samplers_.size();
00138             }
00139 
00141             void clear(void)
00142             {
00143                 resize(0);
00144             }
00145 
00146         private:
00147 
00148             const SpaceInformation  *si_;
00149             SamplerSelector<T>       ss_;
00150             std::vector<SamplerPtr>  samplers_;
00151 
00152         };
00153     }
00154 }
00155 
00156 #endif