Class MaximizeClearanceValidStateSampler

Defined in File MaximizeClearanceValidStateSampler.h

Inheritance Relationships

Base Type

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

Class Documentation

class MaximizeClearanceValidStateSampler : public ompl::base::ValidStateSampler 

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

Public Functions

MaximizeClearanceValidStateSampler(const SpaceInformation *si): Constructor.

~MaximizeClearanceValidStateSampler() override

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 void setNrImproveAttempts(unsigned int attempts): The number of attempts at improving the clearance of the sampled state.

inline unsigned int getNrImproveAttempts() const: Get the number of attempts to improve a sampled state.

Protected Attributes

StateSamplerPtr sampler_: The sampler to build upon.

unsigned int improveAttempts_: Number of attempts to improve a valid sample.