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src
ompl
base
ValidStateSampler.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Rice University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Rice University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#ifndef OMPL_BASE_VALID_STATE_SAMPLER_
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#define OMPL_BASE_VALID_STATE_SAMPLER_
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#include "ompl/base/State.h"
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#include "ompl/util/ClassForward.h"
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#include "ompl/base/GenericParam.h"
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#include <boost/function.hpp>
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#include <boost/noncopyable.hpp>
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#include <string>
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namespace
ompl
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{
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namespace
base
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{
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OMPL_CLASS_FORWARD(SpaceInformation);
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OMPL_CLASS_FORWARD(ValidStateSampler);
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class
ValidStateSampler
:
private
boost::noncopyable
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{
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public
:
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ValidStateSampler
(
const
SpaceInformation
*si);
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virtual
~
ValidStateSampler
(
void
);
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const
std::string&
getName
(
void
)
const
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{
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return
name_
;
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}
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void
setName
(
const
std::string &name)
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{
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name_
= name;
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}
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virtual
bool
sample
(
State
*state) = 0;
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virtual
bool
sampleNear
(
State
*state,
const
State
*near,
const
double
distance) = 0;
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void
setNrAttempts
(
unsigned
int
attempts)
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{
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attempts_
= attempts;
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}
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unsigned
int
getNrAttempts
(
void
)
const
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{
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return
attempts_
;
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}
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ParamSet
&
params
(
void
)
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{
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return
params_
;
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}
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const
ParamSet
&
params
(
void
)
const
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{
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return
params_
;
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}
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protected
:
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const
SpaceInformation
*
si_
;
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unsigned
int
attempts_
;
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std::string
name_
;
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ParamSet
params_
;
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};
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typedef
boost::function<ValidStateSamplerPtr(const SpaceInformation*)>
ValidStateSamplerAllocator
;
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}
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}
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#endif