ompl/base/samplers/MaximizeClearanceValidStateSampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
00038 #define OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
00039 
00040 #include "ompl/base/ValidStateSampler.h"
00041 #include "ompl/base/StateSampler.h"
00042 
00043 namespace ompl
00044 {
00045     namespace base
00046     {
00047 
00048 
00050         class MaximizeClearanceValidStateSampler : public ValidStateSampler
00051         {
00052         public:
00053 
00055             MaximizeClearanceValidStateSampler(const SpaceInformation *si);
00056 
00057             virtual ~MaximizeClearanceValidStateSampler();
00058 
00059             virtual bool sample(State *state);
00060 
00061             virtual bool sampleNear(State *state, const State *near, const double distance);
00062 
00064             void setNrImproveAttempts(unsigned int attempts)
00065             {
00066                 improveAttempts_ = attempts;
00067             }
00068 
00070             unsigned int getNrImproveAttempts() const
00071             {
00072                 return improveAttempts_;
00073             }
00074 
00075         protected:
00076 
00078             StateSamplerPtr sampler_;
00079 
00081             unsigned int    improveAttempts_;
00082 
00083         private:
00085             State          *work_;
00086         };
00087 
00088     }
00089 }
00090 
00091 
00092 #endif
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