ompl::base::BridgeTestValidStateSampler Class Reference
Generate valid samples using bridge test. First sample an invalid state, then sample another invalid state. Take the midpoint of those samples. If midpoint is valid, return. If midpoint is invalid continue. More...
#include <ompl/base/samplers/BridgeTestValidStateSampler.h>
Inheritance diagram for ompl::base::BridgeTestValidStateSampler:
Public Member Functions | |
| BridgeTestValidStateSampler (const SpaceInformation *si) | |
| Constructor. | |
| bool | sample (State *state) override |
| Sample a state. Return false in case of failure. | |
| bool | sampleNear (State *state, const State *near, double distance) override |
| Sample a state near another, within specified distance. Return false, in case of failure. More... | |
| double | getStdDev () const |
| Get the standard deviation used when sampling. | |
| void | setStdDev (double stddev) |
| Set the standard deviation to use when sampling. | |
 Public Member Functions inherited from ompl::base::ValidStateSampler | |
| ValidStateSampler (const ValidStateSampler &)=delete | |
| ValidStateSampler & | operator= (const ValidStateSampler &)=delete |
| ValidStateSampler (const SpaceInformation *si) | |
| Constructor. | |
| const std::string & | getName () const |
| Get the name of the sampler. | |
| void | setName (const std::string &name) |
| Set the name of the sampler. | |
| void | setNrAttempts (unsigned int attempts) |
| Finding a valid sample usually requires performing multiple attempts. This call allows setting the number of such attempts. | |
| unsigned int | getNrAttempts () const |
| Get the number of attempts to be performed by the sampling routine. | |
| ParamSet & | params () |
| Get the parameters for the valid state sampler. | |
| const ParamSet & | params () const |
| Get the parameters for the valid state sampler. | |
Protected Attributes | |
| StateSamplerPtr | sampler_ |
| The sampler to build upon. | |
| double | stddev_ |
| The standard deviation to use in the sampling process. | |
| Protected Attributes inherited from ompl::base::ValidStateSampler | |
| const SpaceInformation * | si_ |
| The state space this sampler samples. | |
| unsigned int | attempts_ |
| Number of attempts to find a valid sample. | |
| std::string | name_ |
| The name of the sampler. | |
| ParamSet | params_ |
| The parameters for this instance of the valid state sampler. | |
Detailed Description
Generate valid samples using bridge test. First sample an invalid state, then sample another invalid state. Take the midpoint of those samples. If midpoint is valid, return. If midpoint is invalid continue.
- External documentation
- Hsu, D., Jiang, T., Reif, J., & Sun, Z., The bridge test for sampling narrow passages with probabilistic roadmap planners. In Robotics and Automation, 2003. [URL]
Definition at line 135 of file BridgeTestValidStateSampler.h.
Member Function Documentation
◆ sampleNear()
|
overridevirtual |
Sample a state near another, within specified distance. Return false, in case of failure.
- Note
- The memory for near must be disjoint from the memory for state
Implements ompl::base::ValidStateSampler.
Definition at line 41 of file BridgeTestValidStateSampler.cpp.
The documentation for this class was generated from the following files:
- ompl/base/samplers/BridgeTestValidStateSampler.h
- ompl/base/samplers/src/BridgeTestValidStateSampler.cpp