ValidStateSampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/ValidStateSampler.h"
38 #include "ompl/tools/config/MagicConstants.h"
39 
40 ompl::base::ValidStateSampler::ValidStateSampler(const SpaceInformation *si)
41  : si_(si), attempts_(magic::MAX_VALID_SAMPLE_ATTEMPTS), name_("not set")
42 {
43  params_.declareParam<unsigned int>("nr_attempts",
44  [this](unsigned int n)
45  {
46  setNrAttempts(n);
47  },
48  [this]
49  {
50  return getNrAttempts();
51  });
52 }
53 
54 ompl::base::ValidStateSampler::~ValidStateSampler() = default;
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...
ParamSet params_
The parameters for this instance of the valid state sampler.
void setNrAttempts(unsigned int attempts)
Finding a valid sample usually requires performing multiple attempts. This call allows setting the nu...
unsigned int getNrAttempts() const
Get the number of attempts to be performed by the sampling routine.