ompl: ompl::base::MaximizeClearanceValidStateSampler Class Reference

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Generate valid samples randomly, but with a bias towards higher clearance. More...

#include <ompl/base/samplers/MaximizeClearanceValidStateSampler.h>

Inheritance diagram for ompl::base::MaximizeClearanceValidStateSampler:

Inheritance graph

[legend]

Public Member Functions
	MaximizeClearanceValidStateSampler (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.
void	setNrImproveAttempts (unsigned int attempts)
	The number of attempts at improving the clearance of the sampled state.
unsigned int	getNrImproveAttempts () const
	Get the number of attempts to improve a sampled state.
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.
unsigned int	improveAttempts_
	Number of attempts to improve a valid sample.
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 randomly, but with a bias towards higher clearance.

Definition at line 48 of file MaximizeClearanceValidStateSampler.h.

Constructor & Destructor Documentation

◆ MaximizeClearanceValidStateSampler()

ompl::base::MaximizeClearanceValidStateSampler::MaximizeClearanceValidStateSampler ( const SpaceInformation * si )

Constructor.

Definition at line 40 of file MaximizeClearanceValidStateSampler.cpp.

◆ ~MaximizeClearanceValidStateSampler()

ompl::base::MaximizeClearanceValidStateSampler::~MaximizeClearanceValidStateSampler ( )

override

Definition at line 49 of file MaximizeClearanceValidStateSampler.cpp.

Member Function Documentation

◆ getNrImproveAttempts()

unsigned int ompl::base::MaximizeClearanceValidStateSampler::getNrImproveAttempts ( ) const

inline

Get the number of attempts to improve a sampled state.

Definition at line 67 of file MaximizeClearanceValidStateSampler.h.

◆ sample()

bool ompl::base::MaximizeClearanceValidStateSampler::sample ( State * state )

overridevirtual

Sample a state. Return false in case of failure.

Implements ompl::base::ValidStateSampler.

Definition at line 54 of file MaximizeClearanceValidStateSampler.cpp.

◆ sampleNear()

bool ompl::base::MaximizeClearanceValidStateSampler::sampleNear	(	State *	state,
		const State *	near,
		double	distance )

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 87 of file MaximizeClearanceValidStateSampler.cpp.

◆ setNrImproveAttempts()

void ompl::base::MaximizeClearanceValidStateSampler::setNrImproveAttempts ( unsigned int attempts )

inline

The number of attempts at improving the clearance of the sampled state.

Definition at line 61 of file MaximizeClearanceValidStateSampler.h.

Member Data Documentation

◆ improveAttempts_

unsigned int ompl::base::MaximizeClearanceValidStateSampler::improveAttempts_

protected

Number of attempts to improve a valid sample.

Definition at line 77 of file MaximizeClearanceValidStateSampler.h.

◆ sampler_

StateSamplerPtr ompl::base::MaximizeClearanceValidStateSampler::sampler_

protected

The sampler to build upon.

Definition at line 74 of file MaximizeClearanceValidStateSampler.h.

The documentation for this class was generated from the following files:

ompl/base/samplers/MaximizeClearanceValidStateSampler.h
ompl/base/samplers/src/MaximizeClearanceValidStateSampler.cpp