ValidStateSampler.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_VALID_STATE_SAMPLER_
#define OMPL_BASE_VALID_STATE_SAMPLER_

#include "ompl/base/State.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/GenericParam.h"
#include <functional>
#include <string>

namespace ompl
{
    namespace base
    {

        OMPL_CLASS_FORWARD(SpaceInformation);


        OMPL_CLASS_FORWARD(ValidStateSampler);

        class ValidStateSampler
        {
        public:
            // non-copyable
            ValidStateSampler(const ValidStateSampler&) = delete;
            ValidStateSampler& operator=(const ValidStateSampler&) = delete;

            ValidStateSampler(const SpaceInformation *si);

            virtual ~ValidStateSampler();

            const std::string& getName() const
            {
                return name_;
            }

            void setName(const std::string &name)
            {
                name_ = name;
            }

            virtual bool sample(State *state) = 0;

            virtual bool sampleNear(State *state, const State *near, const double distance) = 0;

            void setNrAttempts(unsigned int attempts)
            {
                attempts_ = attempts;
            }

            unsigned int getNrAttempts() const
            {
                return attempts_;
            }

            ParamSet& params()
            {
                return params_;
            }

            const ParamSet& params() const
            {
                return params_;
            }

        protected:

            const SpaceInformation *si_;

            unsigned int            attempts_;

            std::string             name_;

            ParamSet                params_;
        };

        typedef std::function<ValidStateSamplerPtr(const SpaceInformation*)> ValidStateSamplerAllocator;
    }
}


#endif