MinimumClearanceValidStateSampler.cpp
43 ompl::base::MinimumClearanceValidStateSampler::MinimumClearanceValidStateSampler(const SpaceInformation *si)
80 bool ompl::base::MinimumClearanceValidStateSampler::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
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: MinimumClearanceValidStateSampler.cpp:80
bool sample(State *state) override
Sample a state. Return false in case of failure.
Definition: MinimumClearanceValidStateSampler.cpp:58
double getMinimumObstacleClearance() const
Get the minimum required distance of sample from nearest obstacle to be considered valid.
Definition: MinimumClearanceValidStateSampler.h:171
ParamSet params_
The parameters for this instance of the valid state sampler.
Definition: ValidStateSampler.h:194
void setMinimumObstacleClearance(double clearance)
Set the minimum required distance of sample from nearest obstacle to be considered valid.
Definition: MinimumClearanceValidStateSampler.h:165
MinimumClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
Definition: MinimumClearanceValidStateSampler.cpp:43
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
Abstract definition of a state sampler.
Definition: ValidStateSampler.h:126