ObstacleBasedValidStateSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SAMPLERS_OBSTACLE_BASED_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_OBSTACLE_BASED_VALID_STATE_SAMPLER_
39 
40 #include "ompl/base/ValidStateSampler.h"
41 #include "ompl/base/StateSampler.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
57  class ObstacleBasedValidStateSampler : public ValidStateSampler
58  {
59  public:
61  ObstacleBasedValidStateSampler(const SpaceInformation *si);
62 
63  ~ObstacleBasedValidStateSampler() override = default;
64 
65  bool sample(State *state) override;
66  bool sampleNear(State *state, const State *near, double distance) override;
67 
68  protected:
71  };
72  }
73 }
74 
75 #endif
bool sample(State *state) override
Sample a state. Return false in case of failure.
ObstacleBasedValidStateSampler(const SpaceInformation *si)
Constructor.
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
StateSamplerPtr sampler_
The sampler to build upon.
A shared pointer wrapper for ompl::base::StateSampler.
Main namespace. Contains everything in this library.