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;
The base class for space information. This contains all the information about the space planning is d...
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=typename SpecificParam< T >::GetterFn())
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:232
ParamSet params_
The parameters for this instance of the valid state sampler.
unsigned int getNrAttempts() const
Get the number of attempts to be performed by the sampling routine.
void setNrAttempts(unsigned int attempts)
Finding a valid sample usually requires performing multiple attempts. This call allows setting the nu...