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
bool sample(State *state) override
Sample a state. Return false in case of failure.
A shared pointer wrapper for ompl::base::StateSampler.
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.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
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...
Definition of an abstract state.
Definition: State.h:49
MaximizeClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
unsigned int improveAttempts_
Number of attempts to improve a valid sample.
void setNrImproveAttempts(unsigned int attempts)
The number of attempts at improving the clearance of the sampled state.