MaximizeClearanceValidStateSampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/samplers/MaximizeClearanceValidStateSampler.h"
38 #include "ompl/base/SpaceInformation.h"
39 
41  : ValidStateSampler(si), sampler_(si->allocStateSampler()), improveAttempts_(3), work_(si->allocState())
42 {
43  name_ = "max_clearance";
44  params_.declareParam<unsigned int>("nr_improve_attempts",
45  [this](unsigned int n)
46  {
48  },
49  [this]
50  {
51  return getNrImproveAttempts();
52  });
53 }
54 
55 ompl::base::MaximizeClearanceValidStateSampler::~MaximizeClearanceValidStateSampler()
56 {
57  si_->freeState(work_);
58 }
59 
61 {
62  unsigned int attempts = 0;
63  bool valid = false;
64  double dist = 0.0;
65  do
66  {
67  sampler_->sampleUniform(state);
68  valid = si_->getStateValidityChecker()->isValid(state, dist);
69  ++attempts;
70  } while (!valid && attempts < attempts_);
71 
72  if (valid)
73  {
74  bool validW = false;
75  double distW = 0.0;
76  attempts = 0;
77  while (attempts < improveAttempts_)
78  {
79  sampler_->sampleUniform(work_);
80  validW = si_->getStateValidityChecker()->isValid(work_, distW);
81  ++attempts;
82  if (validW && distW > dist)
83  {
84  dist = distW;
85  si_->copyState(state, work_);
86  }
87  }
88  return true;
89  }
90  return false;
91 }
92 
93 bool ompl::base::MaximizeClearanceValidStateSampler::sampleNear(State *state, const State *near, const double distance)
94 {
95  unsigned int attempts = 0;
96  bool valid = false;
97  double dist = 0.0;
98  do
99  {
100  sampler_->sampleUniformNear(state, near, distance);
101  valid = si_->getStateValidityChecker()->isValid(state, dist);
102  ++attempts;
103  } while (!valid && attempts < attempts_);
104 
105  if (valid)
106  {
107  bool validW = false;
108  double distW = 0.0;
109  attempts = 0;
110  while (attempts < improveAttempts_)
111  {
112  sampler_->sampleUniformNear(work_, near, distance);
113  validW = si_->getStateValidityChecker()->isValid(work_, distW);
114  ++attempts;
115  if (validW && distW > dist)
116  {
117  dist = distW;
118  si_->copyState(state, work_);
119  }
120  }
121  return true;
122  }
123  return false;
124 }
bool sample(State *state) override
Sample a state. Return false in case of failure.
void freeState(State *state) const
Free the memory of a state.
const SpaceInformation * si_
The state space this sampler samples.
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
void copyState(State *destination, const State *source) const
Copy a state to another.
const StateValidityCheckerPtr & getStateValidityChecker() const
Return the instance of the used state validity checker.
Abstract definition of a state sampler.
unsigned int getNrImproveAttempts() const
Get the number of attempts to improve a sampled state.
The base class for space information. This contains all the information about the space planning is d...
unsigned int attempts_
Number of attempts to find a valid sample.
Definition of an abstract state.
Definition: State.h:49
MaximizeClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=typename SpecificParam< T >::GetterFn())
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:232
unsigned int improveAttempts_
Number of attempts to improve a valid sample.
ParamSet params_
The parameters for this instance of the valid state sampler.
void setNrImproveAttempts(unsigned int attempts)
The number of attempts at improving the clearance of the sampled state.
std::string name_
The name of the sampler.