ObstacleBasedValidStateSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SAMPLERS_OBSTACLE_BASED_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_OBSTACLE_BASED_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  {
58  {
59  public:
62 
63  ~ObstacleBasedValidStateSampler() override = default;
64 
65  bool sample(State *state) override;
66  bool sampleNear(State *state, const State *near, const double distance) override;
67 
68  protected:
71  };
72  }
73 }
74 
75 #endif
A shared pointer wrapper for ompl::base::StateSampler.
Generate valid samples using obstacle based sampling. First sample an invalid state, then sample a valid state. Then, interpolate from the invalid state to the valid state, returning the first valid state encountered.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
ObstacleBasedValidStateSampler(const SpaceInformation *si)
Constructor.
bool sampleNear(State *state, const State *near, const double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
Abstract definition of a state sampler.
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
StateSamplerPtr sampler_
The sampler to build upon.
bool sample(State *state) override
Sample a state. Return false in case of failure.