Class ConditionalStateSampler

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

Class Documentation

class ConditionalStateSampler : public ompl::base::ValidStateSampler

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.

Public Functions

ConditionalStateSampler(const SpaceInformation *si, Motion *&startMotion, std::vector<Motion*> &goalMotions, std::vector<Motion*> &newBatchGoalMotions, bool &sampleOldBatch)

The constructor.

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

class Motion

Representation of a motion.

Public Functions

Motion() = default
inline explicit Motion(const SpaceInformationPtr &si)
~Motion() = default

Public Members

const base::State *root = {nullptr}
base::State *state = {nullptr}
Motion *parent = {nullptr}
std::vector<Motion*> children = {}

The set of motions descending from the current motion.

Motion *connectionPoint = {nullptr}
int numConnections = {0}