MinimumClearanceValidStateSampler.h
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2016, University of Colorado, Boulder
5  * All rights reserved.
6  *
7  * Redistribution and use in source and binary forms, with or without
8  * modification, are permitted provided that the following conditions
9  * are met:
10  *
11  * * Redistributions of source code must retain the above copyright
12  * notice, this list of conditions and the following disclaimer.
13  * * Redistributions in binary form must reproduce the above
14  * copyright notice, this list of conditions and the following
15  * disclaimer in the documentation and/or other materials provided
16  * with the distribution.
17  * * Neither the name of the Univ of CO, Boulder nor the names of its
18  * contributors may be used to endorse or promote products derived
19  * from this software without specific prior written permission.
20  *
21  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32  * POSSIBILITY OF SUCH DAMAGE.
33  *********************************************************************/
34 
35 /* Author: Dave Coleman <dave@dav.ee>
36  Desc: Find a valid sample with a minimum distance to nearby obstacles
37  (clearance threshold)
38 */
39 
40 #ifndef OMPL_BASE_SAMPLERS_MINIMUM_CLEARANCE_VALID_STATE_SAMPLER_
41 #define OMPL_BASE_SAMPLERS_MINIMUM_CLEARANCE_VALID_STATE_SAMPLER_
42 
43 #include "ompl/base/ValidStateSampler.h"
44 #include "ompl/base/StateSampler.h"
45 
46 namespace ompl
47 {
48  namespace base
49  {
51  OMPL_CLASS_FORWARD(MinimumClearanceValidStateSampler);
53 
55  class MinimumClearanceValidStateSampler : public ValidStateSampler
56  {
57  public:
59  MinimumClearanceValidStateSampler(const SpaceInformation *si);
60 
61  ~MinimumClearanceValidStateSampler() override = default;
62  ;
63 
64  bool sample(State *state) override;
65 
66  bool sampleNear(State *state, const State *near, double distance) override;
67 
69  void setMinimumObstacleClearance(double clearance)
70  {
71  clearance_ = clearance;
72  }
73 
75  double getMinimumObstacleClearance() const
76  {
77  return clearance_;
78  }
79 
80  protected:
83 
85  double clearance_;
86  };
87  }
88 }
89 
90 #endif
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
double clearance_
Minimum required distance of sample from nearest obstacle to be considered valid.
bool sample(State *state) override
Sample a state. Return false in case of failure.
double getMinimumObstacleClearance() const
Get the minimum required distance of sample from nearest obstacle to be considered valid.
void setMinimumObstacleClearance(double clearance)
Set the minimum required distance of sample from nearest obstacle to be considered valid.
MinimumClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
A shared pointer wrapper for ompl::base::StateSampler.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21