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<div class="title">ValidStateSampler.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">*  &quot;AS IS&quot; 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_VALID_STATE_SAMPLER_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_VALID_STATE_SAMPLER_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/State.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/util/ClassForward.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &lt;boost/function.hpp&gt;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;boost/noncopyable.hpp&gt;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &lt;string&gt;</span>
<a name="l00045"></a>00045 
<a name="l00046"></a>00046 <span class="keyword">namespace </span>ompl
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048     <span class="keyword">namespace </span>base
<a name="l00049"></a>00049     {
<a name="l00050"></a>00050 
<a name="l00051"></a>00051         <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(SpaceInformation);
<a name="l00052"></a>00052 
<a name="l00054"></a>00054         <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(ValidStateSampler);
<a name="l00055"></a>00055 
<a name="l00060"></a><a class="code" href="classompl_1_1base_1_1ValidStateSampler.html">00060</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1ValidStateSampler.html" title="Abstract definition of a state sampler.">ValidStateSampler</a> : <span class="keyword">private</span> boost::noncopyable
<a name="l00061"></a>00061         {
<a name="l00062"></a>00062         <span class="keyword">public</span>:
<a name="l00063"></a>00063 
<a name="l00065"></a>00065             <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#a5893d51bbce7621ab0d00306d066496c" title="Constructor.">ValidStateSampler</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="l00066"></a>00066 
<a name="l00067"></a>00067             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1base_1_1ValidStateSampler.html" title="Abstract definition of a state sampler.">ValidStateSampler</a>(<span class="keywordtype">void</span>);
<a name="l00068"></a>00068 
<a name="l00070"></a><a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#af7a4903ec6a15f34d43a48b33191f0b1">00070</a>             <span class="keyword">const</span> std::string&amp; <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#af7a4903ec6a15f34d43a48b33191f0b1" title="Get the name of the sampler.">getName</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00071"></a>00071 <span class="keyword">            </span>{
<a name="l00072"></a>00072                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#aa81e8e1aac6d0c7a114aaa69b33a6631" title="The name of the sampler.">name_</a>;
<a name="l00073"></a>00073             }
<a name="l00074"></a>00074 
<a name="l00076"></a><a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#a03d9547f1d25a7f2f6f60edb5adfe56d">00076</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#a03d9547f1d25a7f2f6f60edb5adfe56d" title="Set the name of the sampler.">setName</a>(<span class="keyword">const</span> std::string &amp;name)
<a name="l00077"></a>00077             {
<a name="l00078"></a>00078                 <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#aa81e8e1aac6d0c7a114aaa69b33a6631" title="The name of the sampler.">name_</a> = name;
<a name="l00079"></a>00079             }
<a name="l00080"></a>00080 
<a name="l00082"></a>00082             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#a011ee3910d747d806b00ff71bb66e1ea" 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) = 0;
<a name="l00083"></a>00083 
<a name="l00086"></a>00086             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#a86a022797e62aa7953d5381f0109c6a2" 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) = 0;
<a name="l00087"></a>00087 
<a name="l00091"></a><a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#aa134892ca5a8ae0c5ec2e37693787090">00091</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#aa134892ca5a8ae0c5ec2e37693787090" title="Finding a valid sample usually requires performing multiple attempts. This call allows setting the nu...">setNrAttempts</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> attempts)
<a name="l00092"></a>00092             {
<a name="l00093"></a>00093                 <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#acb624beff24c591763f5d9fc8e38037f" title="Number of attempts to find a valid sample.">attempts_</a> = attempts;
<a name="l00094"></a>00094             }
<a name="l00095"></a>00095 
<a name="l00097"></a><a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#abaafd349d971a98d0e9b072a243cb500">00097</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#abaafd349d971a98d0e9b072a243cb500" title="Get the number of attempts to be performed by the sampling routine.">getNrAttempts</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00098"></a>00098 <span class="keyword">            </span>{
<a name="l00099"></a>00099                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#acb624beff24c591763f5d9fc8e38037f" title="Number of attempts to find a valid sample.">attempts_</a>;
<a name="l00100"></a>00100             }
<a name="l00101"></a>00101 
<a name="l00102"></a>00102         <span class="keyword">protected</span>:
<a name="l00103"></a>00103 
<a name="l00105"></a><a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#a66930cdb64d8d71e3b6ba5a5a1aee223">00105</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> *<a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#a66930cdb64d8d71e3b6ba5a5a1aee223" title="The state space this sampler samples.">si_</a>;
<a name="l00106"></a>00106 
<a name="l00108"></a><a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#acb624beff24c591763f5d9fc8e38037f">00108</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>            <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#acb624beff24c591763f5d9fc8e38037f" title="Number of attempts to find a valid sample.">attempts_</a>;
<a name="l00109"></a>00109 
<a name="l00111"></a><a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#aa81e8e1aac6d0c7a114aaa69b33a6631">00111</a>             std::string             <a class="code" href="classompl_1_1base_1_1ValidStateSampler.html#aa81e8e1aac6d0c7a114aaa69b33a6631" title="The name of the sampler.">name_</a>;
<a name="l00112"></a>00112         };
<a name="l00113"></a>00113 
<a name="l00115"></a><a class="code" href="namespaceompl_1_1base.html#a58736601905ecc753990d7d053c3a0b4">00115</a>         <span class="keyword">typedef</span> boost::function1&lt;ValidStateSamplerPtr, const SpaceInformation*&gt; <a class="code" href="namespaceompl_1_1base.html#a58736601905ecc753990d7d053c3a0b4" title="Definition of a function that can allocate a state sampler.">ValidStateSamplerAllocator</a>;
<a name="l00116"></a>00116     }
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118 
<a name="l00119"></a>00119 
<a name="l00120"></a>00120 <span class="preprocessor">#endif</span>
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