CForestStateSpaceWrapper.cpp

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/* Authors: Mark Moll */
 
#include "ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h"
#include "ompl/geometric/planners/cforest/CForest.h"
 
ompl::base::StateSamplerPtr ompl::base::CForestStateSpaceWrapper::allocDefaultStateSampler() const
{
    auto sampler(std::make_shared<CForestStateSampler>(this, space_->allocDefaultStateSampler()));
    cforest_->addSampler(sampler);
    return sampler;
}
 
ompl::base::StateSamplerPtr ompl::base::CForestStateSpaceWrapper::allocStateSampler() const
{
    auto sampler(std::make_shared<CForestStateSampler>(this, space_->allocStateSampler()));
    cforest_->addSampler(sampler);
    return sampler;
}
 
void ompl::base::CForestStateSpaceWrapper::setup()
{
    space_->setup();
    maxExtent_ = space_->getMaximumExtent();
    longestValidSegmentFraction_ = space_->getLongestValidSegmentFraction();
    longestValidSegmentCountFactor_ = space_->getValidSegmentCountFactor();
    longestValidSegment_ = space_->getLongestValidSegmentLength();
    projections_ = space_->getRegisteredProjections();
    params_ = space_->params();
 
    valueLocationsInOrder_ = space_->getValueLocations();
    valueLocationsByName_ = space_->getValueLocationsByName();
    substateLocationsByName_ = space_->getSubstateLocationsByName();
}