ompl::base::ObstacleBasedValidStateSampler Class Reference

Generate valid samples using obstacle based sampling. First sample an invalid state, then sample a valid state. Then, interpolate from the invalid state to the valid state, returning the first valid state encountered. More...

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

Inheritance diagram for ompl::base::ObstacleBasedValidStateSampler:

Public Member Functions

 ObstacleBasedValidStateSampler (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...
 
- 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.
 
- 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 using obstacle based sampling. First sample an invalid state, then sample a valid state. Then, interpolate from the invalid state to the valid state, returning the first valid state encountered.

External documentation
N. M. Amato, O. B. Bayazit, L. K. Dale, C. Jones, and D. Vallejo, OBPRM: an obstacle-based PRM for 3D workspaces, in Third Workshop on the Algorithmic Foundations of Robotics, pp. 155-168, 1998. [URL]

Definition at line 57 of file ObstacleBasedValidStateSampler.h.

Member Function Documentation

◆ sampleNear()

bool ompl::base::ObstacleBasedValidStateSampler::sampleNear ( State state,
const State near,
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 82 of file ObstacleBasedValidStateSampler.cpp.


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