Generate valid samples randomly with extra requirement of min for clearance to nearest obstacle. More...

Inheritance diagram for ompl::base::MinimumClearanceValidStateSampler:

Public Member Functions
	MinimumClearanceValidStateSampler (const SpaceInformation *si)
	Constructor.

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...

void	setMinimumObstacleClearance (double clearance)
	Set the minimum required distance of sample from nearest obstacle to be considered valid.

double	getMinimumObstacleClearance () const
	Get the minimum required distance of sample from nearest obstacle to be considered valid.

Public Member Functions inherited from ompl::base::ValidStateSampler
	ValidStateSampler (const ValidStateSampler &)=delete

ValidStateSampler &	operator= (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.

ParamSet &	params ()
	Get the parameters for the valid state sampler.

const ParamSet &	params () const
	Get the parameters for the valid state sampler.

Protected Attributes
StateSamplerPtr	sampler_
	The sampler to build upon.

double	clearance_
	Minimum required distance of sample from nearest obstacle to be considered valid.

Protected Attributes inherited from ompl::base::ValidStateSampler
const SpaceInformation *	si_
	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

Generate valid samples randomly with extra requirement of min for clearance to nearest obstacle.

Member Function Documentation

bool ompl::base::MinimumClearanceValidStateSampler::sampleNear	(	State *	state,
		const State *	near,
		double	distance
	)

overridevirtual

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

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