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<div class="title">UniformValidStateSampler.h</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">#ifndef OMPL_BASE_SAMPLERS_UNIFORM_VALID_STATE_SAMPLER_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_SAMPLERS_UNIFORM_VALID_STATE_SAMPLER_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/base/ValidStateSampler.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/base/StateSampler.h"</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keyword">namespace </span>ompl
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keyword">namespace </span>base
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047
<a name="l00048"></a>00048
<a name="l00050"></a><a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html">00050</a> <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html" title="A state sampler that only samples valid states, uniformly.">UniformValidStateSampler</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html" title="Abstract definition of a state sampler.">ValidStateSampler</a>
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="keyword">public</span>:
<a name="l00053"></a>00053
<a name="l00055"></a>00055 <a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html#a1c0f3f6b13aa29e6e593f73e391e5201" title="Constructor.">UniformValidStateSampler</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="l00056"></a>00056
<a name="l00057"></a>00057 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html" title="A state sampler that only samples valid states, uniformly.">UniformValidStateSampler</a>(<span class="keywordtype">void</span>)
<a name="l00058"></a>00058 {
<a name="l00059"></a>00059 }
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html#a8e0136c7ed25a4bfd552c6cabaebcdb3" title="Sample a state. Return false in case of failure.">sample</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state);
<a name="l00062"></a>00062 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html#a57f0088c965889490906f71ce4c64397" title="Sample a state near another, within specified distance. Return false, in case of failure.">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="l00063"></a>00063
<a name="l00064"></a>00064 <span class="keyword">protected</span>:
<a name="l00065"></a>00065
<a name="l00067"></a><a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html#a0d4b3a5afd2d7e2149d40cad3ae34a9b">00067</a> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1UniformValidStateSampler.html#a0d4b3a5afd2d7e2149d40cad3ae34a9b" title="The sampler to build upon.">sampler_</a>;
<a name="l00068"></a>00068
<a name="l00069"></a>00069 };
<a name="l00070"></a>00070
<a name="l00071"></a>00071 }
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="preprocessor">#endif</span>
</pre></div></div>
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