Class ObstacleBasedValidStateSampler

Inheritance Relationships

Base Type

Class Documentation

class ObstacleBasedValidStateSampler : public ompl::base::ValidStateSampler

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]

Public Functions

ObstacleBasedValidStateSampler(const SpaceInformation *si)

Constructor.

~ObstacleBasedValidStateSampler() 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

Protected Attributes

StateSamplerPtr sampler_

The sampler to build upon.