BridgeTestValidStateSampler.h
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38 
39 /* Author: Andreas Orthey */
40 
41 #ifndef OMPL_BASE_SAMPLERS_BRIDGE_TEST_VALID_STATE_SAMPLER_
42 #define OMPL_BASE_SAMPLERS_BRIDGE_TEST_VALID_STATE_SAMPLER_
43 
44 #include "ompl/base/StateSampler.h"
45 #include "ompl/base/ValidStateSampler.h"
46 
47 namespace ompl
48 {
49  namespace base
50  {
64  {
65  public:
68 
69  ~BridgeTestValidStateSampler() override = default;
70 
71  bool sample(State *state) override;
72  bool sampleNear(State *state, const State *near, double distance) override;
73 
75  double getStdDev() const
76  {
77  return stddev_;
78  }
79 
81  void setStdDev(double stddev)
82  {
83  stddev_ = stddev;
84  }
85 
86  protected:
89 
91  double stddev_;
92  };
93  }
94 }
95 #endif
Generate valid samples using bridge test. First sample an invalid state, then sample another invalid ...
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
double getStdDev() const
Get the standard deviation used when sampling.
double stddev_
The standard deviation to use in the sampling process.
BridgeTestValidStateSampler(const SpaceInformation *si)
Constructor.
StateSamplerPtr sampler_
The sampler to build upon.
bool sample(State *state) override
Sample a state. Return false in case of failure.
void setStdDev(double stddev)
Set the standard deviation to use when sampling.
The base class for space information. This contains all the information about the space planning is d...
A shared pointer wrapper for ompl::base::StateSampler.
Definition of an abstract state.
Definition: State.h:50
Abstract definition of a state sampler.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22