Loading...
Searching...
No Matches
ValidStateSampler.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2010, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_VALID_STATE_SAMPLER_
38#define OMPL_BASE_VALID_STATE_SAMPLER_
39
40#include "ompl/base/State.h"
41#include "ompl/util/ClassForward.h"
42#include "ompl/base/GenericParam.h"
43#include <string>
44
45namespace ompl
46{
47 namespace base
48 {
50 OMPL_CLASS_FORWARD(SpaceInformation);
52
54
55 OMPL_CLASS_FORWARD(ValidStateSampler);
57
63 {
64 public:
65 // non-copyable
66 ValidStateSampler(const ValidStateSampler &) = delete;
67 ValidStateSampler &operator=(const ValidStateSampler &) = delete;
68
71
72 virtual ~ValidStateSampler();
73
75 const std::string &getName() const
76 {
77 return name_;
78 }
79
81 void setName(const std::string &name)
82 {
83 name_ = name;
84 }
85
87 virtual bool sample(State *state) = 0;
88
91 virtual bool sampleNear(State *state, const State *near, double distance) = 0;
92
96 void setNrAttempts(unsigned int attempts)
97 {
98 attempts_ = attempts;
99 }
100
102 unsigned int getNrAttempts() const
103 {
104 return attempts_;
105 }
106
109 {
110 return params_;
111 }
112
114 const ParamSet &params() const
115 {
116 return params_;
117 }
118
119 protected:
122
124 unsigned int attempts_;
125
127 std::string name_;
128
131 };
132
135 }
136}
137
138#endif
Maintain a set of parameters.
Definition: GenericParam.h:226
The base class for space information. This contains all the information about the space planning is d...
Definition of an abstract state.
Definition: State.h:50
A shared pointer wrapper for ompl::base::ValidStateSampler.
Abstract definition of a state sampler.
virtual bool sample(State *state)=0
Sample a state. Return false in case of failure.
void setName(const std::string &name)
Set the name of the sampler.
ParamSet params_
The parameters for this instance of the valid state sampler.
ParamSet & params()
Get the parameters for the valid state sampler.
const SpaceInformation * si_
The state space this sampler samples.
virtual bool sampleNear(State *state, const State *near, double distance)=0
Sample a state near another, within specified distance. Return false, in case of failure.
void setNrAttempts(unsigned int attempts)
Finding a valid sample usually requires performing multiple attempts. This call allows setting the nu...
std::string name_
The name of the sampler.
unsigned int attempts_
Number of attempts to find a valid sample.
const ParamSet & params() const
Get the parameters for the valid state sampler.
unsigned int getNrAttempts() const
Get the number of attempts to be performed by the sampling routine.
const std::string & getName() const
Get the name of the sampler.
std::function< ValidStateSamplerPtr(const SpaceInformation *)> ValidStateSamplerAllocator
Definition of a function that can allocate a valid state sampler.
Main namespace. Contains everything in this library.