Generate valid samples using obstacle based sampling. First sample an invalid state, then sample a valid state. Then, interpolate from the invalid state to the valid state, returning the first valid state encountered. More...

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

Inheritance diagram for ompl::base::ObstacleBasedValidStateSampler:

[legend]

Public Member Functions
	ObstacleBasedValidStateSampler (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...

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.

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 obstacle based sampling. First sample an invalid state, then sample a valid state. Then, interpolate from the invalid state to the valid state, returning the first valid state encountered.

External documentation: N. M. Amato, O. B. Bayazit, L. K. Dale, C. Jones, and D. Vallejo, OBPRM: an obstacle-based PRM for 3D workspaces, in Third Workshop on the Algorithmic Foundations of Robotics, pp. 155-168, 1998. [URL]

Definition at line 121 of file ObstacleBasedValidStateSampler.h.

Member Function Documentation

◆ sampleNear()

bool ompl::base::ObstacleBasedValidStateSampler::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 82 of file ObstacleBasedValidStateSampler.cpp.

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

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

Public Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ sampleNear()