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ValidStateSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_VALID_STATE_SAMPLER_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/util/ClassForward.h"
42 #include "ompl/base/GenericParam.h"
43 #include <boost/function.hpp>
44 #include <boost/noncopyable.hpp>
45 #include <string>
46 
47 namespace ompl
48 {
49  namespace base
50  {
51 
53  OMPL_CLASS_FORWARD(SpaceInformation);
55 
57 
58  OMPL_CLASS_FORWARD(ValidStateSampler);
60 
65  class ValidStateSampler : private boost::noncopyable
66  {
67  public:
68 
71 
72  virtual ~ValidStateSampler(void);
73 
75  const std::string& getName(void) const
76  {
77  return name_;
78  }
79 
81  void setName(const std::string &name)
82  {
83  name_ = name;
84  }
85 
87  virtual bool sample(State *state) = 0;
88 
91  virtual bool sampleNear(State *state, const State *near, const double distance) = 0;
92 
96  void setNrAttempts(unsigned int attempts)
97  {
98  attempts_ = attempts;
99  }
100 
102  unsigned int getNrAttempts(void) const
103  {
104  return attempts_;
105  }
106 
109  {
110  return params_;
111  }
112 
114  const ParamSet& params(void) const
115  {
116  return params_;
117  }
118 
119  protected:
120 
123 
125  unsigned int attempts_;
126 
128  std::string name_;
129 
132  };
133 
135  typedef boost::function<ValidStateSamplerPtr(const SpaceInformation*)> ValidStateSamplerAllocator;
136  }
137 }
138 
139 
140 #endif