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--></script> <div id="nav-path" class="navpath"> <ul> <li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a> </li> <li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a> </li> <li class="navelem"><a class="el" href="dir_40bc83a902349ad67ef9d1cb49964511.html">base</a> </li> <li class="navelem"><a class="el" href="dir_0510964fdbbe637a07f4beed93c14e4e.html">samplers</a> </li> <li class="navelem"><a class="el" href="dir_487d5497097badb6b2d4a6b606214277.html">src</a> </li> </ul> </div> </div> <div class="header"> <div class="headertitle"> <div class="title">MaximizeClearanceValidStateSampler.cpp</div> </div> </div> <div class="contents"> <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/MaximizeClearanceValidStateSampler.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_1MaximizeClearanceValidStateSampler.html#aa2e74681d93fae719ec4bdfa2aa972ef">00040</a> <a class="code" href="classompl_1_1base_1_1MaximizeClearanceValidStateSampler.html#aa2e74681d93fae719ec4bdfa2aa972ef" title="Constructor.">ompl::base::MaximizeClearanceValidStateSampler::MaximizeClearanceValidStateSampler</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()), improveAttempts_(3), work_(si->allocState()) <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">"max_clear_uniform"</span>; <a name="l00044"></a>00044 } <a name="l00045"></a>00045 <a name="l00046"></a>00046 ompl::base::MaximizeClearanceValidStateSampler::~MaximizeClearanceValidStateSampler(<span class="keywordtype">void</span>) <a name="l00047"></a>00047 { <a name="l00048"></a>00048 si_->freeState(work_); <a name="l00049"></a>00049 } <a name="l00050"></a>00050 <a name="l00051"></a><a class="code" href="classompl_1_1base_1_1MaximizeClearanceValidStateSampler.html#aca5ed44a784aed9cebd393b77c20d4e4">00051</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1MaximizeClearanceValidStateSampler.html#aca5ed44a784aed9cebd393b77c20d4e4" title="Sample a state. Return false in case of failure.">ompl::base::MaximizeClearanceValidStateSampler::sample</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state) <a name="l00052"></a>00052 { <a name="l00053"></a>00053 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts = 0; <a name="l00054"></a>00054 <span class="keywordtype">bool</span> valid = <span class="keyword">false</span>; <a name="l00055"></a>00055 <span class="keywordtype">double</span> dist = 0.0; <a name="l00056"></a>00056 <span class="keywordflow">do</span> <a name="l00057"></a>00057 { <a name="l00058"></a>00058 sampler_->sampleUniform(state); <a name="l00059"></a>00059 valid = si_->getStateValidityChecker()->isValid(state, dist); <a name="l00060"></a>00060 ++attempts; <a name="l00061"></a>00061 } <span class="keywordflow">while</span> (!valid && attempts < attempts_); <a name="l00062"></a>00062 <a name="l00063"></a>00063 <span class="keywordflow">if</span> (valid) <a name="l00064"></a>00064 { <a name="l00065"></a>00065 <span class="keywordtype">bool</span> validW = <span class="keyword">false</span>; <a name="l00066"></a>00066 <span class="keywordtype">double</span> distW = 0.0; <a name="l00067"></a>00067 attempts = 0; <a name="l00068"></a>00068 <span class="keywordflow">while</span> (attempts < improveAttempts_) <a name="l00069"></a>00069 { <a name="l00070"></a>00070 sampler_->sampleUniform(work_); <a name="l00071"></a>00071 validW = si_->getStateValidityChecker()->isValid(work_, distW); <a name="l00072"></a>00072 ++attempts; <a name="l00073"></a>00073 <span class="keywordflow">if</span> (validW && distW > dist) <a name="l00074"></a>00074 { <a name="l00075"></a>00075 dist = distW; <a name="l00076"></a>00076 si_->copyState(state, work_); <a name="l00077"></a>00077 } <a name="l00078"></a>00078 } <a name="l00079"></a>00079 <span class="keywordflow">return</span> <span class="keyword">true</span>; <a name="l00080"></a>00080 } <a name="l00081"></a>00081 <span class="keywordflow">else</span> <a name="l00082"></a>00082 <span class="keywordflow">return</span> <span class="keyword">false</span>; <a name="l00083"></a>00083 } <a name="l00084"></a>00084 <a name="l00085"></a><a class="code" href="classompl_1_1base_1_1MaximizeClearanceValidStateSampler.html#a077af975ea537fdad022383511ac85e9">00085</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1MaximizeClearanceValidStateSampler.html#a077af975ea537fdad022383511ac85e9" title="Sample a state near another, within specified distance. Return false, in case of failure.">ompl::base::MaximizeClearanceValidStateSampler::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="l00086"></a>00086 { <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">false</span>; <a name="l00089"></a>00089 <span class="keywordtype">double</span> dist = 0.0; <a name="l00090"></a>00090 <span class="keywordflow">do</span> <a name="l00091"></a>00091 { <a name="l00092"></a>00092 sampler_->sampleUniformNear(state, near, distance); <a name="l00093"></a>00093 valid = si_->getStateValidityChecker()->isValid(state, dist); <a name="l00094"></a>00094 ++attempts; <a name="l00095"></a>00095 } <span class="keywordflow">while</span> (!valid && attempts < attempts_); <a name="l00096"></a>00096 <a name="l00097"></a>00097 <span class="keywordflow">if</span> (valid) <a name="l00098"></a>00098 { <a name="l00099"></a>00099 <span class="keywordtype">bool</span> validW = <span class="keyword">false</span>; <a name="l00100"></a>00100 <span class="keywordtype">double</span> distW = 0.0; <a name="l00101"></a>00101 attempts = 0; <a name="l00102"></a>00102 <span class="keywordflow">while</span> (attempts < improveAttempts_) <a name="l00103"></a>00103 { <a name="l00104"></a>00104 sampler_->sampleUniformNear(work_, near, distance); <a name="l00105"></a>00105 validW = si_->getStateValidityChecker()->isValid(work_, distW); <a name="l00106"></a>00106 ++attempts; <a name="l00107"></a>00107 <span class="keywordflow">if</span> (validW && distW > dist) <a name="l00108"></a>00108 { <a name="l00109"></a>00109 dist = distW; <a name="l00110"></a>00110 si_->copyState(state, work_); <a name="l00111"></a>00111 } <a name="l00112"></a>00112 } <a name="l00113"></a>00113 <span class="keywordflow">return</span> <span class="keyword">true</span>; <a name="l00114"></a>00114 } <a name="l00115"></a>00115 <span class="keywordflow">else</span> <a name="l00116"></a>00116 <span class="keywordflow">return</span> <span class="keyword">false</span>; <a name="l00117"></a>00117 } </pre></div></div> </div> <!-- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" onkeydown="return searchBox.OnSearchSelectKey(event)"> <a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div> <!-- iframe showing the search results (closed by default) --> <div id="MSearchResultsWindow"> <iframe src="javascript:void(0)" frameborder="0" name="MSearchResults" id="MSearchResults"> </iframe> </div> </div> <div class="footer span-22 push-2 last"> <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> • <a href="http://www.cs.rice.edu">Department of Computer Science</a> • <a href="http://www.rice.edu">Rice University</a><br> <div class="gray">Generated on Sun Oct 9 2011 23:04:39 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div> </div> </div> </body> </html>