text: /*********************************************************************
   * Software License Agreement (BSD License)
   *
   *  Copyright (c) 2011, Willow Garage, Inc.
   *  All rights reserved.
   *
   *  Redistribution and use in source and binary forms, with or without
   *  modification, are permitted provided that the following conditions
   *  are met:
   *
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   * Neither the name of Willow Garage nor the names of its
   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *  POSSIBILITY OF SUCH DAMAGE.
   *********************************************************************/
  
  /* Author: Ioan Sucan */
  
  #include <moveit/ompl_interface/detail/constrained_valid_state_sampler.h>
  #include <moveit/ompl_interface/model_based_planning_context.h>
  #include <moveit/profiler/profiler.h>
  
  #include <utility>
  
  rclcpp::Logger LOGGER_CONSTRAINED_VALID_STATE_SAMPLER = rclcpp::get_logger("moveit_planner_ompl").get_child("constrained_valid_state_sampler");
  
  ompl_interface::ValidConstrainedSampler::ValidConstrainedSampler(const ModelBasedPlanningContext* pc,
                                                                   kinematic_constraints::KinematicConstraintSetPtr ks,
                                                                   constraint_samplers::ConstraintSamplerPtr cs)
    : ob::ValidStateSampler(pc->getOMPLSimpleSetup()->getSpaceInformation().get())
    , planning_context_(pc)
    , kinematic_constraint_set_(std::move(ks))
    , constraint_sampler_(std::move(cs))
    , work_state_(pc->getCompleteInitialRobotState())
  {
    if (!constraint_sampler_)
      default_sampler_ = si_->allocStateSampler();
    inv_dim_ = si_->getStateSpace()->getDimension() > 0 ? 1.0 / (double)si_->getStateSpace()->getDimension() : 1.0;
    RCLCPP_DEBUG(LOGGER_CONSTRAINED_VALID_STATE_SAMPLER, "Constructed a ValidConstrainedSampler instance at address %p",
                    this);
  }
  
  bool ompl_interface::ValidConstrainedSampler::project(ompl::base::State* state)
  {
    if (constraint_sampler_)
    {
      planning_context_->getOMPLStateSpace()->copyToRobotState(work_state_, state);
      if (constraint_sampler_->project(work_state_, planning_context_->getMaximumStateSamplingAttempts()))
      {
        if (kinematic_constraint_set_->decide(work_state_).satisfied)
        {
          planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_state_);
          return true;
        }
      }
    }
    return false;
  }
  
  bool ompl_interface::ValidConstrainedSampler::sample(ob::State* state)
  {
    //  moveit::Profiler::ScopedBlock pblock("ValidConstrainedSampler::sample");
    if (constraint_sampler_)
    {
      if (constraint_sampler_->sample(work_state_, planning_context_->getCompleteInitialRobotState(),
                                      planning_context_->getMaximumStateSamplingAttempts()))
      {
        if (kinematic_constraint_set_->decide(work_state_).satisfied)
        {
          planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_state_);
          return true;
        }
      }
    }
    else
    {
      default_sampler_->sampleUniform(state);
      planning_context_->getOMPLStateSpace()->copyToRobotState(work_state_, state);
      if (kinematic_constraint_set_->decide(work_state_).satisfied)
        return true;
    }
  
    return false;
  }
  
  bool ompl_interface::ValidConstrainedSampler::sampleNear(ompl::base::State* state, const ompl::base::State* near,
                                                           const double distance)
  {
    if (!sample(state))
      return false;
    double total_d = si_->distance(state, near);
    if (total_d > distance)
    {
      double dist = pow(rng_.uniform01(), inv_dim_) * distance;
      si_->getStateSpace()->interpolate(near, state, dist / total_d, state);
      planning_context_->getOMPLStateSpace()->copyToRobotState(work_state_, state);
      if (!kinematic_constraint_set_->decide(work_state_).satisfied)
        return false;
    }
    return true;
  }
  