MaximizeClearanceValidStateSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
39 
40 #include "ompl/base/ValidStateSampler.h"
41 #include "ompl/base/StateSampler.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
49  {
50  public:
53 
55 
56  bool sample(State *state) override;
57 
58  bool sampleNear(State *state, const State *near, double distance) override;
59 
61  void setNrImproveAttempts(unsigned int attempts)
62  {
63  improveAttempts_ = attempts;
64  }
65 
67  unsigned int getNrImproveAttempts() const
68  {
69  return improveAttempts_;
70  }
71 
72  protected:
75 
77  unsigned int improveAttempts_;
78 
79  private:
81  State *work_;
82  };
83  }
84 }
85 
86 #endif
Generate valid samples randomly, but with a bias towards higher clearance.
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
unsigned int improveAttempts_
Number of attempts to improve a valid sample.
bool sample(State *state) override
Sample a state. Return false in case of failure.
unsigned int getNrImproveAttempts() const
Get the number of attempts to improve a sampled state.
MaximizeClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
void setNrImproveAttempts(unsigned int attempts)
The number of attempts at improving the clearance of the sampled state.
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