ompl::base::ValidStateSampler Class Referenceabstract

Abstract definition of a state sampler. More...

#include <ompl/base/ValidStateSampler.h>

Inheritance diagram for ompl::base::ValidStateSampler:

Public Member Functions

 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.
 
virtual bool sample (State *state)=0
 Sample a state. Return false in case of failure.
 
virtual bool sampleNear (State *state, const State *near, const double distance)=0
 Sample a state near another, within specified distance. Return false, in case of failure. More...
 
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

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

Abstract definition of a state sampler.

Definition at line 62 of file ValidStateSampler.h.

Member Function Documentation

◆ sampleNear()

virtual bool ompl::base::ValidStateSampler::sampleNear ( State state,
const State near,
const double  distance 
)
pure virtual

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

Implemented in ompl::base::MinimumClearanceValidStateSampler, ompl::base::ObstacleBasedValidStateSampler, ompl::base::MaximizeClearanceValidStateSampler, ompl::base::GaussianValidStateSampler, and ompl::base::UniformValidStateSampler.


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