MaximizeClearanceValidStateSampler.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
#define OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_

#include "ompl/base/ValidStateSampler.h"
#include "ompl/base/StateSampler.h"

namespace ompl
{
    namespace base
    {
        class MaximizeClearanceValidStateSampler : public ValidStateSampler
        {
        public:
            MaximizeClearanceValidStateSampler(const SpaceInformation *si);

            ~MaximizeClearanceValidStateSampler() override;

            bool sample(State *state) override;

            bool sampleNear(State *state, const State *near, double distance) override;

            void setNrImproveAttempts(unsigned int attempts)
            {
                improveAttempts_ = attempts;
            }

            unsigned int getNrImproveAttempts() const
            {
                return improveAttempts_;
            }

        protected:
            StateSamplerPtr sampler_;

            unsigned int improveAttempts_;

        private:
            State *work_;
        };
    }
}

#endif