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MaximizeClearanceValidStateSampler.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/samplers/MaximizeClearanceValidStateSampler.h"
00038 #include "ompl/base/SpaceInformation.h"
00039 
00040 ompl::base::MaximizeClearanceValidStateSampler::MaximizeClearanceValidStateSampler(const SpaceInformation *si) :
00041     ValidStateSampler(si), sampler_(si->allocStateSampler()), improveAttempts_(3), work_(si->allocState())
00042 {
00043     name_ = "max_clear_uniform";
00044 }
00045 
00046 ompl::base::MaximizeClearanceValidStateSampler::~MaximizeClearanceValidStateSampler(void)
00047 {
00048     si_->freeState(work_);
00049 }
00050 
00051 bool ompl::base::MaximizeClearanceValidStateSampler::sample(State *state)
00052 {
00053     unsigned int attempts = 0;
00054     bool valid = false;
00055     double dist = 0.0;
00056     do
00057     {
00058         sampler_->sampleUniform(state);
00059         valid = si_->getStateValidityChecker()->isValid(state, dist);
00060         ++attempts;
00061     } while (!valid && attempts < attempts_);
00062 
00063     if (valid)
00064     {
00065         bool validW = false;
00066         double distW = 0.0;
00067         attempts = 0;
00068         while (attempts < improveAttempts_)
00069         {
00070             sampler_->sampleUniform(work_);
00071             validW = si_->getStateValidityChecker()->isValid(work_, distW);
00072             ++attempts;
00073             if (validW && distW > dist)
00074             {
00075                 dist = distW;
00076                 si_->copyState(state, work_);
00077             }
00078         }
00079         return true;
00080     }
00081     else
00082         return false;
00083 }
00084 
00085 bool ompl::base::MaximizeClearanceValidStateSampler::sampleNear(State *state, const State *near, const double distance)
00086 {
00087     unsigned int attempts = 0;
00088     bool valid = false;
00089     double dist = 0.0;
00090     do
00091     {
00092         sampler_->sampleUniformNear(state, near, distance);
00093         valid = si_->getStateValidityChecker()->isValid(state, dist);
00094         ++attempts;
00095     } while (!valid && attempts < attempts_);
00096 
00097     if (valid)
00098     {
00099         bool validW = false;
00100         double distW = 0.0;
00101         attempts = 0;
00102         while (attempts < improveAttempts_)
00103         {
00104             sampler_->sampleUniformNear(work_, near, distance);
00105             validW = si_->getStateValidityChecker()->isValid(work_, distW);
00106             ++attempts;
00107             if (validW && distW > dist)
00108             {
00109                 dist = distW;
00110                 si_->copyState(state, work_);
00111             }
00112         }
00113         return true;
00114     }
00115     else
00116         return false;
00117 }