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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
    {
        /// @cond IGNORE
        OMPL_CLASS_FORWARD(MinimumClearanceValidStateSampler);
        /// @endcond

        /** \brief Generate valid samples randomly with extra requirement of min for clearance to nearest obstacle */
        class MinimumClearanceValidStateSampler : public ValidStateSampler
        {
        public:
            /** \brief Constructor */
            MinimumClearanceValidStateSampler(const SpaceInformation *si);

            ~MinimumClearanceValidStateSampler() override = default;
            ;

            bool sample(State *state) override;

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

            /** \brief Set the minimum required distance of sample from nearest obstacle to be considered valid */
            void setMinimumObstacleClearance(double clearance)
            {
                clearance_ = clearance;
            }

            /** \brief Get the minimum required distance of sample from nearest obstacle to be considered valid */
            double getMinimumObstacleClearance() const
            {
                return clearance_;
            }

        protected:
            /** \brief The sampler to build upon */
            StateSamplerPtr sampler_;

            /** \brief Minimum required distance of sample from nearest obstacle to be considered valid */
            double clearance_;
        };
    }
}

#endif
