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
A shared pointer wrapper for ompl::base::StateSampler.
BridgeTestValidStateSampler(const SpaceInformation *si)
Constructor.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
double getStdDev() const
Get the standard deviation used when sampling.
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
Abstract definition of a state sampler.
The base class for space information. This contains all the information about the space planning is d...
Definition of an abstract state.
Definition: State.h:49
bool sample(State *state) override
Sample a state. Return false in case of failure.
StateSamplerPtr sampler_
The sampler to build upon.
void setStdDev(double stddev)
Set the standard deviation to use when sampling.
double stddev_
The standard deviation to use in the sampling process.
Generate valid samples using bridge test. First sample an invalid state, then sample another invalid ...