/usr/include/ompl/base/ValidStateSampler.h is in libompl-dev 0.14.2+dfsg-1.
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/* Author: Ioan Sucan */
#ifndef OMPL_BASE_VALID_STATE_SAMPLER_
#define OMPL_BASE_VALID_STATE_SAMPLER_
#include "ompl/base/State.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/GenericParam.h"
#include <boost/function.hpp>
#include <boost/noncopyable.hpp>
#include <string>
namespace ompl
{
namespace base
{
/// @cond IGNORE
OMPL_CLASS_FORWARD(SpaceInformation);
/// @endcond
/// @cond IGNORE
/** \brief Forward declaration of ompl::base::ValidStateSampler */
OMPL_CLASS_FORWARD(ValidStateSampler);
/// @endcond
/** \class ompl::base::ValidStateSamplerPtr
\brief A boost shared pointer wrapper for ompl::base::ValidStateSampler */
/** \brief Abstract definition of a state sampler. */
class ValidStateSampler : private boost::noncopyable
{
public:
/** \brief Constructor */
ValidStateSampler(const SpaceInformation *si);
virtual ~ValidStateSampler(void);
/** \brief Get the name of the sampler */
const std::string& getName(void) const
{
return name_;
}
/** \brief Set the name of the sampler */
void setName(const std::string &name)
{
name_ = name;
}
/** \brief Sample a state. Return false in case of failure */
virtual bool sample(State *state) = 0;
/** \brief Sample a state near another, within specified distance. Return false, in case of failure.
\note The memory for \e near must be disjoint from the memory for \e state */
virtual bool sampleNear(State *state, const State *near, const double distance) = 0;
/** \brief Finding a valid sample usually requires
performing multiple attempts. This call allows setting
the number of such attempts. */
void setNrAttempts(unsigned int attempts)
{
attempts_ = attempts;
}
/** \brief Get the number of attempts to be performed by the sampling routine */
unsigned int getNrAttempts(void) const
{
return attempts_;
}
/** \brief Get the parameters for the valid state sampler */
ParamSet& params(void)
{
return params_;
}
/** \brief Get the parameters for the valid state sampler */
const ParamSet& params(void) const
{
return params_;
}
protected:
/** \brief The state space this sampler samples */
const SpaceInformation *si_;
/** \brief Number of attempts to find a valid sample */
unsigned int attempts_;
/** \brief The name of the sampler */
std::string name_;
/** \brief The parameters for this instance of the valid state sampler */
ParamSet params_;
};
/** \brief Definition of a function that can allocate a valid state sampler */
typedef boost::function<ValidStateSamplerPtr(const SpaceInformation*)> ValidStateSamplerAllocator;
}
}
#endif
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