ompl/geometric/planners/cforest/src/CForestStateSpaceWrapper.cpp
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00034 
00035 /* Authors: Mark Moll */
00036 
00037 #include "ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h"
00038 #include "ompl/geometric/planners/cforest/CForest.h"
00039 
00040 ompl::base::StateSamplerPtr ompl::base::CForestStateSpaceWrapper::allocDefaultStateSampler() const
00041 {
00042     StateSamplerPtr sampler = StateSamplerPtr(new CForestStateSampler(this, space_->allocDefaultStateSampler()));
00043     cforest_->addSampler(sampler);
00044     return sampler;
00045 }
00046 
00047 ompl::base::StateSamplerPtr ompl::base::CForestStateSpaceWrapper::allocStateSampler() const
00048 {
00049     StateSamplerPtr sampler = StateSamplerPtr(new CForestStateSampler(this, space_->allocStateSampler()));
00050     cforest_->addSampler(sampler);
00051     return sampler;
00052 }
00053 
00054 void ompl::base::CForestStateSpaceWrapper::setup()
00055 {
00056     space_->setup();
00057     maxExtent_ = space_->getMaximumExtent();
00058     longestValidSegmentFraction_ = space_->getLongestValidSegmentFraction();
00059     longestValidSegmentCountFactor_ = space_->getValidSegmentCountFactor();
00060     longestValidSegment_ = space_->getLongestValidSegmentLength();
00061     projections_ = space_->getRegisteredProjections();
00062     params_ = space_->params();
00063 
00064     valueLocationsInOrder_ = space_->getValueLocations();
00065     valueLocationsByName_ = space_->getValueLocationsByName();
00066     substateLocationsByName_ = space_->getSubstateLocationsByName();
00067 }
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