MinimumClearanceValidStateSampler.h

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/* Author: Dave Coleman <dave@dav.ee>
   Desc:   Find a valid sample with a minimum distance to nearby obstacles
           (clearance threshold)
*/
 
#ifndef OMPL_BASE_SAMPLERS_MINIMUM_CLEARANCE_VALID_STATE_SAMPLER_
#define OMPL_BASE_SAMPLERS_MINIMUM_CLEARANCE_VALID_STATE_SAMPLER_
 
#include "ompl/base/ValidStateSampler.h"
#include "ompl/base/StateSampler.h"
 
namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(MinimumClearanceValidStateSampler);
 
        class MinimumClearanceValidStateSampler : public ValidStateSampler
        {
        public:
            MinimumClearanceValidStateSampler(const SpaceInformation *si);
 
            ~MinimumClearanceValidStateSampler() override = default;
            ;
 
            bool sample(State *state) override;
 
            bool sampleNear(State *state, const State *near, double distance) override;
 
            void setMinimumObstacleClearance(double clearance)
            {
                clearance_ = clearance;
            }
 
            double getMinimumObstacleClearance() const
            {
                return clearance_;
            }
 
        protected:
            StateSamplerPtr sampler_;
 
            double clearance_;
        };
    }
}
 
#endif