Class BridgeTestValidStateSampler

Defined in File BridgeTestValidStateSampler.h

Inheritance Relationships

Base Type

public ompl::base::ValidStateSampler (Class ValidStateSampler)

Class Documentation

class BridgeTestValidStateSampler : public ompl::base::ValidStateSampler 

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]

Public Functions

BridgeTestValidStateSampler(const SpaceInformation *si): Constructor.

~BridgeTestValidStateSampler() override = default

virtual bool sample(State *state) override: Sample a state. Return false in case of failure.

virtual bool sampleNear(State *state, const State *near, double distance) override: 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

inline double getStdDev() const: Get the standard deviation used when sampling.

inline void setStdDev(double stddev): Set the standard deviation to use when sampling.

Protected Attributes

StateSamplerPtr sampler_: The sampler to build upon.

double stddev_: The standard deviation to use in the sampling process.