MinimumClearanceValidStateSampler.h

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/* Author: Dave Coleman <dave@dav.ee>
   Desc:   Find a valid sample with a minimum distance to nearby obstacles
           (clearance threshold)
*/

#ifndef OMPL_BASE_SAMPLERS_MINIMUM_CLEARANCE_VALID_STATE_SAMPLER_
#define OMPL_BASE_SAMPLERS_MINIMUM_CLEARANCE_VALID_STATE_SAMPLER_

#include "ompl/base/ValidStateSampler.h"
#include "ompl/base/StateSampler.h"

namespace ompl
{
    namespace base
    {

        OMPL_CLASS_FORWARD(MinimumClearanceValidStateSampler);

        class MinimumClearanceValidStateSampler : public ValidStateSampler
        {
        public:

            MinimumClearanceValidStateSampler(const SpaceInformation *si);

            virtual ~MinimumClearanceValidStateSampler() {};

            virtual bool sample(State *state);

            virtual bool sampleNear(State *state, const State *near, const double distance);

            void setMinimumObstacleClearance(double clearance)
            {
                clearance_ = clearance;
            }

            unsigned int getMinimumObstacleClearance() const
            {
                return clearance_;
            }

        protected:

            StateSamplerPtr sampler_;

            double          clearance_;
        };

    }
}


#endif