UniformValidStateSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SAMPLERS_UNIFORM_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_UNIFORM_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 
54  ~UniformValidStateSampler() override = default;
55 
56  bool sample(State *state) override;
57  bool sampleNear(State *state, const State *near, double distance) override;
58 
59  protected:
62  };
63  }
64 }
65 
66 #endif
bool sample(State *state) override
Sample a state. Return false in case of failure.
UniformValidStateSampler(const SpaceInformation *si)
Constructor.
A shared pointer wrapper for ompl::base::StateSampler.
A state sampler that only samples valid states, uniformly.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
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
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
StateSamplerPtr sampler_
The sampler to build upon.