UniformObstacleBasedSampler.h

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#ifndef UNIFORM_OBSTACLE_BASED_SAMPLER_H_
#define UNIFORM_OBSTACLE_BASED_SAMPLER_H_
 
#include "SamplerMethod.h"
 
class UniformObstacleBasedSampler : virtual public SamplerMethod {
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType GroupCfgType;
 
 
    UniformObstacleBasedSampler(XMLNode& _node);
 
    virtual ~UniformObstacleBasedSampler() = default;
 
    UniformObstacleBasedSampler(string _vcLabel = "", string _dmLabel = "",
    double _margin = 0, bool _useBoundary = false);
 
 
    void Print(ostream& _os) const override;
 
 
    virtual bool Sampler(Cfg& _cfg, const Boundary* const _boundary,
        std::vector<Cfg>& _result, std::vector<Cfg>& _invalid) override;
 
    virtual bool Sampler(GroupCfgType& _cfg, const Boundary* const _boundary,
    std::vector<GroupCfgType>& _result, std::vector<GroupCfgType>& _invalid) override;
 
 
  private:
 
 
    double m_margin; //The length of line segments 
    bool m_useBoundary; //Use bounding box as obstacle 
    string m_vcLabel, m_dmLabel; //Validity checker label, distance metric label
 
};
 
#endif