MinimumClearanceValidStateSampler.h
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
double clearance_
Minimum required distance of sample from nearest obstacle to be considered valid.
Definition: MinimumClearanceValidStateSampler.h:181
StateSamplerPtr sampler_
The sampler to build upon.
Definition: MinimumClearanceValidStateSampler.h:178
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
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
A shared pointer wrapper for ompl::base::StateSampler.