MaximizeClearanceValidStateSampler.cpp
40 ompl::base::MaximizeClearanceValidStateSampler::MaximizeClearanceValidStateSampler(const SpaceInformation *si)
41 : ValidStateSampler(si), sampler_(si->allocStateSampler()), improveAttempts_(3), work_(si->allocState())
93 bool ompl::base::MaximizeClearanceValidStateSampler::sampleNear(State *state, const State *near, const double distance)
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:145
void setNrImproveAttempts(unsigned int attempts)
The number of attempts at improving the clearance of the sampled state.
Definition: MaximizeClearanceValidStateSampler.h:157
ParamSet params_
The parameters for this instance of the valid state sampler.
Definition: ValidStateSampler.h:194
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
Definition: MaximizeClearanceValidStateSampler.cpp:93
bool sample(State *state) override
Sample a state. Return false in case of failure.
Definition: MaximizeClearanceValidStateSampler.cpp:60
MaximizeClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
Definition: MaximizeClearanceValidStateSampler.cpp:40
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=[] { return T();})
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:295
unsigned int getNrImproveAttempts() const
Get the number of attempts to improve a sampled state.
Definition: MaximizeClearanceValidStateSampler.h:163
Abstract definition of a state sampler.
Definition: ValidStateSampler.h:126