ompl/base/samplers/src/UniformValidStateSampler.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/samplers/UniformValidStateSampler.h"
00038 #include "ompl/base/SpaceInformation.h"
00039 
00040 ompl::base::UniformValidStateSampler::UniformValidStateSampler(const SpaceInformation *si) :
00041     ValidStateSampler(si), sampler_(si->allocStateSampler())
00042 {
00043     name_ = "uniform";
00044 }
00045 
00046 bool ompl::base::UniformValidStateSampler::sample(State *state)
00047 {
00048     unsigned int attempts = 0;
00049     bool valid = false;
00050     do
00051     {
00052         sampler_->sampleUniform(state);
00053         valid = si_->isValid(state);
00054         ++attempts;
00055     } while (!valid && attempts < attempts_);
00056     return valid;
00057 }
00058 
00059 bool ompl::base::UniformValidStateSampler::sampleNear(State *state, const State *near, const double distance)
00060 {
00061     unsigned int attempts = 0;
00062     bool valid = false;
00063     do
00064     {
00065         sampler_->sampleUniformNear(state, near, distance);
00066         valid = si_->isValid(state);
00067         ++attempts;
00068     } while (!valid && attempts < attempts_);
00069     return valid;
00070 }
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