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
Generate valid samples randomly with extra requirement of min for clearance to nearest obstacle.
MinimumClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
double getMinimumObstacleClearance() const
Get the minimum required distance of sample from nearest obstacle to be considered valid.
StateSamplerPtr sampler_
The sampler to build upon.
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.
double clearance_
Minimum required distance of sample from nearest obstacle to be considered valid.
bool sample(State *state) override
Sample a state. Return false in case of failure.
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