MinimumClearanceValidStateSampler.cpp
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34 
35 /* Author: Dave Coleman <dave@dav.ee>
36  Desc: Find a valid sample with a minimum distance to nearby obstacles
37  (clearance threshold)
38 */
39 
40 #include "ompl/base/samplers/MinimumClearanceValidStateSampler.h"
41 #include "ompl/base/SpaceInformation.h"
42 
44  : ValidStateSampler(si), sampler_(si->allocStateSampler()), clearance_(1)
45 {
46  name_ = "min_clearance";
47  params_.declareParam<double>("min_obstacle_clearance",
48  [this](double c)
49  {
51  },
52  [this]
53  {
55  });
56 }
57 
59 {
60  unsigned int attempts = 0;
61  bool valid = false;
62  double dist = 0.0;
63  do
64  {
65  sampler_->sampleUniform(state);
66  valid = si_->getStateValidityChecker()->isValid(state, dist);
67 
68  // Also check for distance to nearest obstacle and invalidate if too close
69  if (dist < clearance_)
70  {
71  valid = false;
72  }
73 
74  ++attempts;
75  } while (!valid && attempts < attempts_);
76 
77  return valid;
78 }
79 
80 bool ompl::base::MinimumClearanceValidStateSampler::sampleNear(State *state, const State *near, const double distance)
81 {
82  unsigned int attempts = 0;
83  bool valid = false;
84  double dist = 0.0;
85  do
86  {
87  sampler_->sampleUniformNear(state, near, distance);
88  valid = si_->getStateValidityChecker()->isValid(state, dist);
89 
90  // Also check for distance to nearest obstacle and invalidate if too close
91  if (dist < clearance_)
92  {
93  valid = false;
94  }
95 
96  ++attempts;
97  } while (!valid && attempts < attempts_);
98 
99  return valid;
100 }
MinimumClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
double getMinimumObstacleClearance() const
Get the minimum required distance of sample from nearest obstacle to be considered valid.
void setMinimumObstacleClearance(double clearance)
Set the minimum required distance of sample from nearest obstacle to be considered valid.
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
bool sample(State *state) override
Sample a state. Return false in case of failure.
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=[] { return T();})
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:231
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:50
Abstract definition of a state sampler.
ParamSet params_
The parameters for this instance of the valid state sampler.
std::string name_
The name of the sampler.