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ValidStateSampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_VALID_STATE_SAMPLER_
00038 #define OMPL_BASE_VALID_STATE_SAMPLER_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/util/ClassForward.h"
00042 #include <boost/function.hpp>
00043 #include <boost/noncopyable.hpp>
00044 #include <string>
00045 
00046 namespace ompl
00047 {
00048     namespace base
00049     {
00050 
00051         ClassForward(SpaceInformation);
00052 
00054         ClassForward(ValidStateSampler);
00055 
00060         class ValidStateSampler : private boost::noncopyable
00061         {
00062         public:
00063 
00065             ValidStateSampler(const SpaceInformation *si) : si_(si), attempts_(10), name_("not set")
00066             {
00067             }
00068 
00069             virtual ~ValidStateSampler(void)
00070             {
00071             }
00072 
00074             const std::string& getName(void) const
00075             {
00076                 return name_;
00077             }
00078 
00080             void setName(const std::string &name)
00081             {
00082                 name_ = name;
00083             }
00084 
00086             virtual bool sample(State *state) = 0;
00087 
00090             virtual bool sampleNear(State *state, const State *near, const double distance) = 0;
00091 
00095             void setNrAttempts(unsigned int attempts)
00096             {
00097                 attempts_ = attempts;
00098             }
00099 
00101             unsigned int getNrAttempts(void) const
00102             {
00103                 return attempts_;
00104             }
00105 
00106         protected:
00107 
00109             const SpaceInformation *si_;
00110 
00112             unsigned int            attempts_;
00113 
00115             std::string             name_;
00116         };
00117 
00119         typedef boost::function1<ValidStateSamplerPtr, const SpaceInformation*> ValidStateSamplerAllocator;
00120     }
00121 }
00122 
00123 
00124 #endif
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