constrained_valid_state_sampler.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_
#define MOVEIT_OMPL_INTERFACE_DETAIL_CONSTRAINED_VALID_STATE_SAMPLER_

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

namespace ompl_interface
{
class ModelBasedPlanningContext;

MOVEIT_CLASS_FORWARD(ValidStateSampler);

class ValidConstrainedSampler : public ompl::base::ValidStateSampler
{
public:
  ValidConstrainedSampler(
      const ModelBasedPlanningContext* pc, const kinematic_constraints::KinematicConstraintSetPtr& ks,
      const constraint_samplers::ConstraintSamplerPtr& cs = constraint_samplers::ConstraintSamplerPtr());

  virtual bool sample(ompl::base::State* state);
  virtual bool project(ompl::base::State* state);
  virtual bool sampleNear(ompl::base::State* state, const ompl::base::State* near, const double distance);

private:
  const ModelBasedPlanningContext* planning_context_;
  kinematic_constraints::KinematicConstraintSetPtr kinematic_constraint_set_;
  constraint_samplers::ConstraintSamplerPtr constraint_sampler_;
  ompl::base::StateSamplerPtr default_sampler_;
  robot_state::RobotState work_state_;
  double inv_dim_;
  ompl::RNG rng_;
};
}

#endif