ompl::base::ConditionalStateSampler Class Reference
The Conditional Sampler samples feasible Space-Time States. First, a space configuration is sampled. Then, a feasible time conditioned on the start and goal states is sampled for the space configuration. More...
#include <ompl/base/samplers/ConditionalStateSampler.h>
Inheritance diagram for ompl::base::ConditionalStateSampler:
Public Member Functions | |
| ConditionalStateSampler (const SpaceInformation *si, Motion *&startMotion, std::vector< Motion * > &goalMotions, std::vector< Motion * > &newBatchGoalMotions, bool &sampleOldBatch) | |
| The 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... | |
 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. | |
Additional Inherited Members | |
| 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
The Conditional Sampler samples feasible Space-Time States. First, a space configuration is sampled. Then, a feasible time conditioned on the start and goal states is sampled for the space configuration.
Definition at line 135 of file ConditionalStateSampler.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 129 of file ConditionalStateSampler.cpp.
The documentation for this class was generated from the following files:
- ompl/base/samplers/ConditionalStateSampler.h
- ompl/base/samplers/src/ConditionalStateSampler.cpp