.. _program_listing_file_src_ompl_base_ValidStateSampler.h:

Program Listing for File ValidStateSampler.h
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_base_ValidStateSampler.h>` (``src/ompl/base/ValidStateSampler.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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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 <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, 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_;
           };
   
           using ValidStateSamplerAllocator = std::function<ValidStateSamplerPtr(const SpaceInformation *)>;
       }
   }
   
   #endif