ompl/base/samplers/src/MaximizeClearanceValidStateSampler.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/samplers/MaximizeClearanceValidStateSampler.h"
00038 #include "ompl/base/SpaceInformation.h"
00039 
00040 ompl::base::MaximizeClearanceValidStateSampler::MaximizeClearanceValidStateSampler(const SpaceInformation *si) :
00041     ValidStateSampler(si), sampler_(si->allocStateSampler()), improveAttempts_(3), work_(si->allocState())
00042 {
00043     name_ = "max_clearance";
00044     params_.declareParam<unsigned int>("nr_improve_attempts",
00045                                        boost::bind(&MaximizeClearanceValidStateSampler::setNrImproveAttempts, this, _1),
00046                                        boost::bind(&MaximizeClearanceValidStateSampler::getNrImproveAttempts, this));
00047 }
00048 
00049 ompl::base::MaximizeClearanceValidStateSampler::~MaximizeClearanceValidStateSampler()
00050 {
00051     si_->freeState(work_);
00052 }
00053 
00054 bool ompl::base::MaximizeClearanceValidStateSampler::sample(State *state)
00055 {
00056     unsigned int attempts = 0;
00057     bool valid = false;
00058     double dist = 0.0;
00059     do
00060     {
00061         sampler_->sampleUniform(state);
00062         valid = si_->getStateValidityChecker()->isValid(state, dist);
00063         ++attempts;
00064     } while (!valid && attempts < attempts_);
00065 
00066     if (valid)
00067     {
00068         bool validW = false;
00069         double distW = 0.0;
00070         attempts = 0;
00071         while (attempts < improveAttempts_)
00072         {
00073             sampler_->sampleUniform(work_);
00074             validW = si_->getStateValidityChecker()->isValid(work_, distW);
00075             ++attempts;
00076             if (validW && distW > dist)
00077             {
00078                 dist = distW;
00079                 si_->copyState(state, work_);
00080             }
00081         }
00082         return true;
00083     }
00084     else
00085         return false;
00086 }
00087 
00088 bool ompl::base::MaximizeClearanceValidStateSampler::sampleNear(State *state, const State *near, const double distance)
00089 {
00090     unsigned int attempts = 0;
00091     bool valid = false;
00092     double dist = 0.0;
00093     do
00094     {
00095         sampler_->sampleUniformNear(state, near, distance);
00096         valid = si_->getStateValidityChecker()->isValid(state, dist);
00097         ++attempts;
00098     } while (!valid && attempts < attempts_);
00099 
00100     if (valid)
00101     {
00102         bool validW = false;
00103         double distW = 0.0;
00104         attempts = 0;
00105         while (attempts < improveAttempts_)
00106         {
00107             sampler_->sampleUniformNear(work_, near, distance);
00108             validW = si_->getStateValidityChecker()->isValid(work_, distW);
00109             ++attempts;
00110             if (validW && distW > dist)
00111             {
00112                 dist = distW;
00113                 si_->copyState(state, work_);
00114             }
00115         }
00116         return true;
00117     }
00118     else
00119         return false;
00120 }
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