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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SAMPLERS_OBSTACLE_BASED_VALID_STATE_SAMPLER_
#define OMPL_BASE_SAMPLERS_OBSTACLE_BASED_VALID_STATE_SAMPLER_

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

namespace ompl
{
    namespace base
    {
        /** \brief Generate valid samples using obstacle based sampling.  First
            sample an invalid state, then sample a valid state.  Then, interpolate from
            the invalid state to the valid state, returning the first valid state
            encountered.

            @par External documentation
            N. M. Amato, O. B. Bayazit, L. K. Dale, C. Jones, and D. Vallejo, OBPRM: an obstacle-based PRM for 3D
           workspaces, in <em> Third Workshop on the Algorithmic Foundations of Robotics</em>, pp. 155-168, 1998.
           [[URL]](https://parasol.tamu.edu/groups/amatogroup/research/OBPRM/)
        */
        class ObstacleBasedValidStateSampler : public ValidStateSampler
        {
        public:
            /** \brief Constructor */
            ObstacleBasedValidStateSampler(const SpaceInformation *si);

            ~ObstacleBasedValidStateSampler() override = default;

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

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

#endif
