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_;
  robot_state::JointStateGroup                 *work_joint_group_state_;
  unsigned int                                      constrained_success_;
  unsigned int                                      constrained_failure_;
  double                                            inv_dim_;
};

}

#endif