ompl::base::ConstrainedValidStateSampler Class Reference

Valid state sampler for constrained state spaces. More...

#include <ompl/base/ConstrainedSpaceInformation.h>

Inheritance diagram for ompl::base::ConstrainedValidStateSampler:

Public Member Functions

 ConstrainedValidStateSampler (const SpaceInformation *si)
 Constructor. Create a valid state sampler for a constrained state space.
 
bool sample (State *state) override
 Sample a state. Return false in case of failure.
 
bool sampleNear (State *state, const State *near, double distance) override
 Sample a state near another, within specified distance. Return false, in case of failure. More...
 
- Public Member Functions inherited from ompl::base::ValidStateSampler
 ValidStateSampler (const ValidStateSampler &)=delete
 
ValidStateSampleroperator= (const ValidStateSampler &)=delete
 
 ValidStateSampler (const SpaceInformation *si)
 Constructor.
 
const std::string & getName () const
 Get the name of the sampler.
 
void setName (const std::string &name)
 Set the name of the sampler.
 
void setNrAttempts (unsigned int attempts)
 Finding a valid sample usually requires performing multiple attempts. This call allows setting the number of such attempts.
 
unsigned int getNrAttempts () const
 Get the number of attempts to be performed by the sampling routine.
 
ParamSetparams ()
 Get the parameters for the valid state sampler.
 
const ParamSetparams () const
 Get the parameters for the valid state sampler.
 

Additional Inherited Members

- Protected Attributes inherited from ompl::base::ValidStateSampler
const SpaceInformationsi_
 The state space this sampler samples.
 
unsigned int attempts_
 Number of attempts to find a valid sample.
 
std::string name_
 The name of the sampler.
 
ParamSet params_
 The parameters for this instance of the valid state sampler.
 

Detailed Description

Valid state sampler for constrained state spaces.

Definition at line 62 of file ConstrainedSpaceInformation.h.

Member Function Documentation

◆ sampleNear()

bool ompl::base::ConstrainedValidStateSampler::sampleNear ( State state,
const State near,
double  distance 
)
inlineoverridevirtual

Sample a state near another, within specified distance. Return false, in case of failure.

Note
The memory for near must be disjoint from the memory for state

Implements ompl::base::ValidStateSampler.

Definition at line 87 of file ConstrainedSpaceInformation.h.


The documentation for this class was generated from the following file: