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 <string>
44 
45 namespace ompl
46 {
47  namespace base
48  {
50  OMPL_CLASS_FORWARD(SpaceInformation);
52 
54 
55  OMPL_CLASS_FORWARD(ValidStateSampler);
57 
63  {
64  public:
65  // non-copyable
66  ValidStateSampler(const ValidStateSampler &) = delete;
67  ValidStateSampler &operator=(const ValidStateSampler &) = delete;
68 
71 
72  virtual ~ValidStateSampler();
73 
75  const std::string &getName() 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, double distance) = 0;
92 
96  void setNrAttempts(unsigned int attempts)
97  {
98  attempts_ = attempts;
99  }
100 
102  unsigned int getNrAttempts() const
103  {
104  return attempts_;
105  }
106 
109  {
110  return params_;
111  }
112 
114  const ParamSet &params() const
115  {
116  return params_;
117  }
118 
119  protected:
122 
124  unsigned int attempts_;
125 
127  std::string name_;
128 
131  };
132 
134  typedef std::function<ValidStateSamplerPtr(const SpaceInformation *)> ValidStateSamplerAllocator;
135  }
136 }
137 
138 #endif
const SpaceInformation * si_
The state space this sampler samples.
Maintain a set of parameters.
Definition: GenericParam.h:226
void setName(const std::string &name)
Set the name of the sampler.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Abstract definition of a state sampler.
const std::string & getName() const
Get the name of the sampler.
The base class for space information. This contains all the information about the space planning is d...
unsigned int attempts_
Number of attempts to find a valid sample.
std::function< ValidStateSamplerPtr(const SpaceInformation *)> ValidStateSamplerAllocator
Definition of a function that can allocate a valid state sampler.
Definition of an abstract state.
Definition: State.h:49
const ParamSet & params() const
Get the parameters for the valid state sampler.
virtual bool sample(State *state)=0
Sample a state. Return false in case of failure.
ParamSet & params()
Get the parameters for the valid state sampler.
virtual bool sampleNear(State *state, const State *near, double distance)=0
Sample a state near another, within specified distance. Return false, in case of failure.
ParamSet params_
The parameters for this instance of the valid state sampler.
unsigned int getNrAttempts() const
Get the number of attempts to be performed by the sampling routine.
std::string name_
The name of the sampler.
void setNrAttempts(unsigned int attempts)
Finding a valid sample usually requires performing multiple attempts. This call allows setting the nu...