constrained_sampler.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_SAMPLER_
#define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_SAMPLER_

#include <ompl/base/StateSampler.h>
#include <moveit/constraint_samplers/constraint_sampler.h>

namespace ompl_interface
{
class ModelBasedPlanningContext;

class ConstrainedSampler : public ompl::base::StateSampler
{
public:
  ConstrainedSampler(const ModelBasedPlanningContext* pc, const constraint_samplers::ConstraintSamplerPtr& cs);

  virtual void sampleUniform(ompl::base::State* state);

  virtual void sampleUniformNear(ompl::base::State* state, const ompl::base::State* near, const double distance);

  virtual void sampleGaussian(ompl::base::State* state, const ompl::base::State* mean, const double stdDev);

  double getConstrainedSamplingRate() const;

private:
  bool sampleC(ompl::base::State* state);

  const ModelBasedPlanningContext* planning_context_;
  ompl::base::StateSamplerPtr default_;
  constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
  robot_state::RobotState work_state_;
  unsigned int constrained_success_;
  unsigned int constrained_failure_;
  double inv_dim_;
};
}

#endif