ompl/base/samplers/src/GaussianValidStateSampler.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/samplers/GaussianValidStateSampler.h"
00038 #include "ompl/base/SpaceInformation.h"
00039 #include "ompl/tools/config/MagicConstants.h"
00040 
00041 ompl::base::GaussianValidStateSampler::GaussianValidStateSampler(const SpaceInformation *si) :
00042     ValidStateSampler(si), sampler_(si->allocStateSampler()), stddev_(si->getMaximumExtent() * magic::STD_DEV_AS_SPACE_EXTENT_FRACTION)
00043 {
00044     name_ = "gaussian";
00045     params_.declareParam<double>("standard_deviation",
00046                                  boost::bind(&GaussianValidStateSampler::setStdDev, this, _1),
00047                                  boost::bind(&GaussianValidStateSampler::getStdDev, this));
00048 }
00049 
00050 bool ompl::base::GaussianValidStateSampler::sample(State *state)
00051 {
00052     bool result = false;
00053     unsigned int attempts = 0;
00054     State *temp = si_->allocState();
00055     do
00056     {
00057         sampler_->sampleUniform(state);
00058         bool v1 = si_->isValid(state);
00059         sampler_->sampleGaussian(temp, state, stddev_);
00060         bool v2 = si_->isValid(temp);
00061         if (v1 != v2)
00062         {
00063             if (v2)
00064                 si_->copyState(state, temp);
00065             result = true;
00066         }
00067         ++attempts;
00068     } while (!result && attempts < attempts_);
00069     si_->freeState(temp);
00070     return result;
00071 }
00072 
00073 bool ompl::base::GaussianValidStateSampler::sampleNear(State *state, const State *near, const double distance)
00074 {
00075     bool result = false;
00076     unsigned int attempts = 0;
00077     State *temp = si_->allocState();
00078     do
00079     {
00080         sampler_->sampleUniformNear(state, near, distance);
00081         bool v1 = si_->isValid(state);
00082         sampler_->sampleGaussian(temp, state, distance);
00083         bool v2 = si_->isValid(temp);
00084         if (v1 != v2)
00085         {
00086             if (v2)
00087                 si_->copyState(state, temp);
00088             result = true;
00089         }
00090         ++attempts;
00091     } while (!result && attempts < attempts_);
00092     si_->freeState(temp);
00093     return result;
00094 }
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