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>

namespace ompl_interface
{

class ModelBasedPlanningContext;

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_;
  robot_state::JointStateGroup                 *work_joint_group_state_;
  double                                            inv_dim_;
  ompl::RNG                                         rng_;
};

typedef boost::shared_ptr<ValidConstrainedSampler> ValidConstrainedSamplerPtr;
typedef boost::shared_ptr<const ValidConstrainedSampler> ValidConstrainedSamplerConstPtr;

}

#endif