Class MinimumClearanceValidStateSampler

Inheritance Relationships

Base Type

Class Documentation

class MinimumClearanceValidStateSampler : public ompl::base::ValidStateSampler

Generate valid samples randomly with extra requirement of min for clearance to nearest obstacle.

Public Functions

MinimumClearanceValidStateSampler(const SpaceInformation *si)

Constructor.

~MinimumClearanceValidStateSampler() 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 void setMinimumObstacleClearance(double clearance)

Set the minimum required distance of sample from nearest obstacle to be considered valid.

inline double getMinimumObstacleClearance() const

Get the minimum required distance of sample from nearest obstacle to be considered valid.

Protected Attributes

StateSamplerPtr sampler_

The sampler to build upon.

double clearance_

Minimum required distance of sample from nearest obstacle to be considered valid.