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ValidStateSampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_VALID_STATE_SAMPLER_
00038 #define OMPL_BASE_VALID_STATE_SAMPLER_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/util/ClassForward.h"
00042 #include <boost/function.hpp>
00043 #include <boost/noncopyable.hpp>
00044 #include <string>
00045 
00046 namespace ompl
00047 {
00048     namespace base
00049     {
00050 
00051         ClassForward(SpaceInformation);
00052 
00054         ClassForward(ValidStateSampler);
00055 
00060         class ValidStateSampler : private boost::noncopyable
00061         {
00062         public:
00063 
00065             ValidStateSampler(const SpaceInformation *si);
00066 
00067             virtual ~ValidStateSampler(void);
00068 
00070             const std::string& getName(void) const
00071             {
00072                 return name_;
00073             }
00074 
00076             void setName(const std::string &name)
00077             {
00078                 name_ = name;
00079             }
00080 
00082             virtual bool sample(State *state) = 0;
00083 
00086             virtual bool sampleNear(State *state, const State *near, const double distance) = 0;
00087 
00091             void setNrAttempts(unsigned int attempts)
00092             {
00093                 attempts_ = attempts;
00094             }
00095 
00097             unsigned int getNrAttempts(void) const
00098             {
00099                 return attempts_;
00100             }
00101 
00102         protected:
00103 
00105             const SpaceInformation *si_;
00106 
00108             unsigned int            attempts_;
00109 
00111             std::string             name_;
00112         };
00113 
00115         typedef boost::function1<ValidStateSamplerPtr, const SpaceInformation*> ValidStateSamplerAllocator;
00116     }
00117 }
00118 
00119 
00120 #endif