All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
MaximizeClearanceValidStateSampler.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2011, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
39 
40 #include "ompl/base/ValidStateSampler.h"
41 #include "ompl/base/StateSampler.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
47 
48 
51  {
52  public:
53 
56 
58 
59  virtual bool sample(State *state);
60 
61  virtual bool sampleNear(State *state, const State *near, const double distance);
62 
64  void setNrImproveAttempts(unsigned int attempts)
65  {
66  improveAttempts_ = attempts;
67  }
68 
70  unsigned int getNrImproveAttempts(void) const
71  {
72  return improveAttempts_;
73  }
74 
75  protected:
76 
79 
81  unsigned int improveAttempts_;
82 
83  private:
85  State *work_;
86  };
87 
88  }
89 }
90 
91 
92 #endif