ompl/geometric/planners/cforest/src/CForestStateSampler.cpp
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00034 
00035 /* Author: Javier V. Gómez*/
00036 
00037 #include "ompl/geometric/planners/cforest/CForestStateSampler.h"
00038 
00039 void ompl::base::CForestStateSampler::sampleUniform(State *state)
00040 {
00041     if (!statesToSample_.empty())
00042         getNextSample(state);
00043     else
00044         sampler_->sampleUniform(state);
00045 }
00046 
00047 void ompl::base::CForestStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
00048 {
00049     if (!statesToSample_.empty())
00050         getNextSample(state);
00051     else
00052         sampler_->sampleUniformNear(state, near, distance);
00053 }
00054 
00055 void ompl::base::CForestStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
00056 {
00057     if (!statesToSample_.empty())
00058         getNextSample(state);
00059     else
00060         sampler_->sampleGaussian(state, mean, stdDev);
00061 }
00062 
00063 void ompl::base::CForestStateSampler::setStatesToSample(const std::vector<const State *> &states)
00064 {
00065     boost::mutex::scoped_lock slock(statesLock_);
00066     for (size_t i = 0; i < statesToSample_.size(); ++i)
00067         space_->freeState(statesToSample_[i]);
00068     statesToSample_.clear();
00069 
00070     statesToSample_.reserve(states.size());
00071     // push in reverse order, so that the states are popped in order in getNextSample()
00072     for (std::vector<const State *>::const_iterator st = states.begin(); st != states.end(); ++st)
00073     {
00074         State *s = space_->allocState();
00075         space_->copyState(s, *st);
00076         statesToSample_.push_back(s);
00077     }
00078 }
00079 
00080 void ompl::base::CForestStateSampler::getNextSample(State *state)
00081 {
00082     boost::mutex::scoped_lock slock(statesLock_);
00083     space_->copyState(state, statesToSample_.back());
00084     space_->freeState(statesToSample_.back());
00085     statesToSample_.pop_back();
00086 }
00087 
00088 void ompl::base::CForestStateSampler::clear()
00089 {
00090     boost::mutex::scoped_lock slock(statesLock_);
00091     for (size_t i = 0; i < statesToSample_.size(); ++i)
00092         space_->freeState(statesToSample_[i]);
00093     statesToSample_.clear();
00094     sampler_.reset();
00095 }
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