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HCIK.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_IK_HCIK_
00038 #define OMPL_GEOMETRIC_IK_HCIK_
00039 
00040 #include "ompl/base/SpaceInformation.h"
00041 #include "ompl/base/GoalRegion.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace geometric
00047     {
00048 
00060         class HCIK
00061         {
00062         public:
00063 
00065             HCIK(const base::SpaceInformationPtr &si) : si_(si), maxImproveSteps_(2), checkValidity_(true)
00066             {
00067             }
00068 
00069             ~HCIK(void)
00070             {
00071             }
00072 
00076             bool tryToImprove(const base::GoalRegion &goal, base::State *state, double nearDistance, double *betterGoalDistance = NULL) const;
00077 
00079             void setMaxImproveSteps(unsigned int steps)
00080             {
00081                 maxImproveSteps_ = steps;
00082             }
00083 
00085             unsigned int getMaxImproveSteps(void) const
00086             {
00087                 return maxImproveSteps_;
00088             }
00089 
00091             void setValidityCheck(bool valid)
00092             {
00093                 checkValidity_ = valid;
00094             }
00095 
00097             bool getValidityCheck(void) const
00098             {
00099                 return checkValidity_;
00100             }
00101 
00102         private:
00103 
00104             bool valid(const base::State *state) const
00105             {
00106                 return checkValidity_ ? si_->isValid(state) : true;
00107             }
00108 
00109             base::SpaceInformationPtr si_;
00110             unsigned int              maxImproveSteps_;
00111             bool                      checkValidity_;
00112         };
00113 
00114     }
00115 
00116 }
00117 
00118 #endif