ompl/base/ValidStateSampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_VALID_STATE_SAMPLER_
00038 #define OMPL_BASE_VALID_STATE_SAMPLER_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/util/ClassForward.h"
00042 #include "ompl/base/GenericParam.h"
00043 #include <boost/function.hpp>
00044 #include <boost/noncopyable.hpp>
00045 #include <string>
00046 
00047 namespace ompl
00048 {
00049     namespace base
00050     {
00051 
00053         OMPL_CLASS_FORWARD(SpaceInformation);
00055 
00057 
00058         OMPL_CLASS_FORWARD(ValidStateSampler);
00060 
00065         class ValidStateSampler : private boost::noncopyable
00066         {
00067         public:
00068 
00070             ValidStateSampler(const SpaceInformation *si);
00071 
00072             virtual ~ValidStateSampler();
00073 
00075             const std::string& getName() const
00076             {
00077                 return name_;
00078             }
00079 
00081             void setName(const std::string &name)
00082             {
00083                 name_ = name;
00084             }
00085 
00087             virtual bool sample(State *state) = 0;
00088 
00091             virtual bool sampleNear(State *state, const State *near, const double distance) = 0;
00092 
00096             void setNrAttempts(unsigned int attempts)
00097             {
00098                 attempts_ = attempts;
00099             }
00100 
00102             unsigned int getNrAttempts() const
00103             {
00104                 return attempts_;
00105             }
00106 
00108             ParamSet& params()
00109             {
00110                 return params_;
00111             }
00112 
00114             const ParamSet& params() const
00115             {
00116                 return params_;
00117             }
00118 
00119         protected:
00120 
00122             const SpaceInformation *si_;
00123 
00125             unsigned int            attempts_;
00126 
00128             std::string             name_;
00129 
00131             ParamSet                params_;
00132         };
00133 
00135         typedef boost::function<ValidStateSamplerPtr(const SpaceInformation*)> ValidStateSamplerAllocator;
00136     }
00137 }
00138 
00139 
00140 #endif
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