MaximizeClearanceValidStateSampler.h
Generate valid samples randomly, but with a bias towards higher clearance.
Definition: MaximizeClearanceValidStateSampler.h:49
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:82
unsigned int improveAttempts_
Number of attempts to improve a valid sample.
Definition: MaximizeClearanceValidStateSampler.h:77
void setNrImproveAttempts(unsigned int attempts)
The number of attempts at improving the clearance of the sampled state.
Definition: MaximizeClearanceValidStateSampler.h:61
StateSamplerPtr sampler_
The sampler to build upon.
Definition: MaximizeClearanceValidStateSampler.h:74
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
Definition: MaximizeClearanceValidStateSampler.cpp:93
bool sample(State *state) override
Sample a state. Return false in case of failure.
Definition: MaximizeClearanceValidStateSampler.cpp:60
MaximizeClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
Definition: MaximizeClearanceValidStateSampler.cpp:40
A shared pointer wrapper for ompl::base::StateSampler.
unsigned int getNrImproveAttempts() const
Get the number of attempts to improve a sampled state.
Definition: MaximizeClearanceValidStateSampler.h:67
Abstract definition of a state sampler.
Definition: ValidStateSampler.h:63