MinimumClearanceValidStateSampler.h
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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 #ifndef OMPL_BASE_SAMPLERS_MINIMUM_CLEARANCE_VALID_STATE_SAMPLER_
41 #define OMPL_BASE_SAMPLERS_MINIMUM_CLEARANCE_VALID_STATE_SAMPLER_
42 
43 #include "ompl/base/ValidStateSampler.h"
44 #include "ompl/base/StateSampler.h"
45 
46 namespace ompl
47 {
48  namespace base
49  {
51  OMPL_CLASS_FORWARD(MinimumClearanceValidStateSampler);
53 
56  {
57  public:
60 
61  ~MinimumClearanceValidStateSampler() override = default;
62  ;
63 
64  bool sample(State *state) override;
65 
66  bool sampleNear(State *state, const State *near, double distance) override;
67 
69  void setMinimumObstacleClearance(double clearance)
70  {
71  clearance_ = clearance;
72  }
73 
76  {
77  return clearance_;
78  }
79 
80  protected:
83 
85  double clearance_;
86  };
87  }
88 }
89 
90 #endif
A shared pointer wrapper for ompl::base::StateSampler.
Generate valid samples randomly with extra requirement of min for clearance to nearest obstacle...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
double clearance_
Minimum required distance of sample from nearest obstacle to be considered valid. ...
Abstract definition of a state sampler.
The base class for space information. This contains all the information about the space planning is d...
bool sample(State *state) override
Sample a state. Return false in case of failure.
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 of an abstract state.
Definition: State.h:49
MinimumClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
void setMinimumObstacleClearance(double clearance)
Set the minimum required distance of sample from nearest obstacle to be considered valid...
double getMinimumObstacleClearance() const
Get the minimum required distance of sample from nearest obstacle to be considered valid...
StateSamplerPtr sampler_
The sampler to build upon.