ompl: ValidStateSampler.h Source File

00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
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