UniformValidStateSampler.cpp

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/* Author: Ioan Sucan */
 
#include "ompl/base/samplers/UniformValidStateSampler.h"
#include "ompl/base/SpaceInformation.h"
 
ompl::base::UniformValidStateSampler::UniformValidStateSampler(const SpaceInformation *si)
  : ValidStateSampler(si), sampler_(si->allocStateSampler())
{
    name_ = "uniform";
}
 
bool ompl::base::UniformValidStateSampler::sample(State *state)
{
    unsigned int attempts = 0;
    bool valid = false;
    do
    {
        sampler_->sampleUniform(state);
        valid = si_->isValid(state);
        ++attempts;
    } while (!valid && attempts < attempts_);
    return valid;
}
 
bool ompl::base::UniformValidStateSampler::sampleNear(State *state, const State *near, const double distance)
{
    unsigned int attempts = 0;
    bool valid = false;
    do
    {
        sampler_->sampleUniformNear(state, near, distance);
        valid = si_->isValid(state);
        ++attempts;
    } while (!valid && attempts < attempts_);
    return valid;
}