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/* Author: Javier V. Gómez*/

#include "ompl/geometric/planners/cforest/CForestStateSampler.h"

void ompl::base::CForestStateSampler::sampleUniform(State *state)
{
    if (!statesToSample_.empty())
        getNextSample(state);
    else
        sampler_->sampleUniform(state);
}

void ompl::base::CForestStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
{
    if (!statesToSample_.empty())
        getNextSample(state);
    else
        sampler_->sampleUniformNear(state, near, distance);
}

void ompl::base::CForestStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
{
    if (!statesToSample_.empty())
        getNextSample(state);
    else
        sampler_->sampleGaussian(state, mean, stdDev);
}

void ompl::base::CForestStateSampler::setStatesToSample(const std::vector<const State *> &states)
{
    boost::mutex::scoped_lock slock(statesLock_);
    for (size_t i = 0; i < statesToSample_.size(); ++i)
        space_->freeState(statesToSample_[i]);
    statesToSample_.clear();

    statesToSample_.reserve(states.size());
    // push in reverse order, so that the states are popped in order in getNextSample()
    for (std::vector<const State *>::const_iterator st = states.begin(); st != states.end(); ++st)
    {
        State *s = space_->allocState();
        space_->copyState(s, *st);
        statesToSample_.push_back(s);
    }
}

void ompl::base::CForestStateSampler::getNextSample(State *state)
{
    boost::mutex::scoped_lock slock(statesLock_);
    space_->copyState(state, statesToSample_.back());
    space_->freeState(statesToSample_.back());
    statesToSample_.pop_back();
}

void ompl::base::CForestStateSampler::clear()
{
    boost::mutex::scoped_lock slock(statesLock_);
    for (size_t i = 0; i < statesToSample_.size(); ++i)
        space_->freeState(statesToSample_[i]);
    statesToSample_.clear();
    sampler_.reset();
}
