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<div class="title">ObstacleBasedValidStateSampler.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/base/samplers/ObstacleBasedValidStateSampler.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/base/SpaceInformation.h"</span>
<a name="l00039"></a>00039
<a name="l00040"></a><a class="code" href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html#ad1444e3fd0b28b4458d53cc42d298a25">00040</a> <a class="code" href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html#ad1444e3fd0b28b4458d53cc42d298a25" title="Constructor.">ompl::base::ObstacleBasedValidStateSampler::ObstacleBasedValidStateSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">SpaceInformation</a> *si) :
<a name="l00041"></a>00041 <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html" title="Abstract definition of a state sampler.">ValidStateSampler</a>(si), sampler_(si->allocStateSampler())
<a name="l00042"></a>00042 {
<a name="l00043"></a>00043 <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#aa81e8e1aac6d0c7a114aaa69b33a6631" title="The name of the sampler.">name_</a> = <span class="stringliteral">"obstacle"</span>;
<a name="l00044"></a>00044 }
<a name="l00045"></a>00045
<a name="l00046"></a><a class="code" href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html#afe16104bb26872720a7513f7474c993d">00046</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html#afe16104bb26872720a7513f7474c993d" title="Sample a state. Return false in case of failure.">ompl::base::ObstacleBasedValidStateSampler::sample</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state)
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048 <span class="comment">// find invalid state</span>
<a name="l00049"></a>00049 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts = 0;
<a name="l00050"></a>00050 <span class="keywordtype">bool</span> valid = <span class="keyword">true</span>;
<a name="l00051"></a>00051 <span class="keywordflow">do</span>
<a name="l00052"></a>00052 {
<a name="l00053"></a>00053 sampler_->sampleUniform(state);
<a name="l00054"></a>00054 valid = si_->isValid(state);
<a name="l00055"></a>00055 ++attempts;
<a name="l00056"></a>00056 } <span class="keywordflow">while</span> (valid && attempts < attempts_);
<a name="l00057"></a>00057 <span class="keywordflow">if</span> (valid)
<a name="l00058"></a>00058 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="comment">// find a valid state</span>
<a name="l00061"></a>00061 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *temp = si_->allocState();
<a name="l00062"></a>00062 attempts = 0;
<a name="l00063"></a>00063 valid = <span class="keyword">false</span>;
<a name="l00064"></a>00064 <span class="keywordflow">do</span>
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 sampler_->sampleUniform(temp);
<a name="l00067"></a>00067 valid = si_->isValid(temp);
<a name="l00068"></a>00068 ++attempts;
<a name="l00069"></a>00069 } <span class="keywordflow">while</span> (!valid && attempts < attempts_);
<a name="l00070"></a>00070
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="comment">// keep the last valid state, before collision</span>
<a name="l00073"></a>00073 <span class="keywordflow">if</span> (valid)
<a name="l00074"></a>00074 {
<a name="l00075"></a>00075 std::pair<State*, double> fail(state, 0.0);
<a name="l00076"></a>00076 si_->checkMotion(temp, state, fail);
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<a name="l00079"></a>00079 si_->freeState(temp);
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="keywordflow">return</span> valid;
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083
<a name="l00084"></a><a class="code" href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html#afad6b002b2e87c31bae6ac5693709829">00084</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html#afad6b002b2e87c31bae6ac5693709829" title="Sample a state near another, within specified distance. Return false, in case of failure.">ompl::base::ObstacleBasedValidStateSampler::sampleNear</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *near, <span class="keyword">const</span> <span class="keywordtype">double</span> distance)
<a name="l00085"></a>00085 {
<a name="l00086"></a>00086 <span class="comment">// find invalid state nearby</span>
<a name="l00087"></a>00087 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts = 0;
<a name="l00088"></a>00088 <span class="keywordtype">bool</span> valid = <span class="keyword">true</span>;
<a name="l00089"></a>00089 <span class="keywordflow">do</span>
<a name="l00090"></a>00090 {
<a name="l00091"></a>00091 sampler_->sampleUniformNear(state, near, distance);
<a name="l00092"></a>00092 valid = si_->isValid(state);
<a name="l00093"></a>00093 ++attempts;
<a name="l00094"></a>00094 } <span class="keywordflow">while</span> (valid && attempts < attempts_);
<a name="l00095"></a>00095 <span class="keywordflow">if</span> (valid)
<a name="l00096"></a>00096 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="comment">// find a valid state</span>
<a name="l00099"></a>00099 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *temp = si_->allocState();
<a name="l00100"></a>00100 attempts = 0;
<a name="l00101"></a>00101 valid = <span class="keyword">false</span>;
<a name="l00102"></a>00102 <span class="keywordflow">do</span>
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 sampler_->sampleUniform(temp);
<a name="l00105"></a>00105 valid = si_->isValid(temp);
<a name="l00106"></a>00106 ++attempts;
<a name="l00107"></a>00107 } <span class="keywordflow">while</span> (!valid && attempts < attempts_);
<a name="l00108"></a>00108
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="comment">// keep the last valid state, before collision</span>
<a name="l00111"></a>00111 <span class="keywordflow">if</span> (valid)
<a name="l00112"></a>00112 {
<a name="l00113"></a>00113 std::pair<State*, double> fail(state, 0.0);
<a name="l00114"></a>00114 si_->checkMotion(temp, state, fail);
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116
<a name="l00117"></a>00117 si_->freeState(temp);
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="keywordflow">return</span> valid;
<a name="l00120"></a>00120 }
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