ompl::base::MinimumClearanceValidStateSampler Class Reference

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

#include <ompl/base/samplers/MinimumClearanceValidStateSampler.h>

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, const 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
 
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.
 

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 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

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

Definition at line 55 of file MinimumClearanceValidStateSampler.h.

Member Function Documentation

◆ sampleNear()

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

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 80 of file MinimumClearanceValidStateSampler.cpp.


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