ompl::base::MaximizeClearanceValidStateSampler Class Reference

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

#include <MaximizeClearanceValidStateSampler.h>

Inheritance diagram for ompl::base::MaximizeClearanceValidStateSampler:

[legend]

List of all members.

Public Member Functions
unsigned int	getNrImproveAttempts (void) const
	Get the number of attempts to improve a sampled state.
	MaximizeClearanceValidStateSampler (const SpaceInformation *si)
	Constructor.
virtual bool	sample (State *state)
	Sample a state. Return false in case of failure.
virtual bool	sampleNear (State *state, const State *near, const double distance)
	Sample a state near another, within specified distance. Return false, in case of failure.
void	setNrImproveAttempts (unsigned int attempts)
	The number of attempts at improving the clearance of the sampled state.
virtual	~MaximizeClearanceValidStateSampler (void)
Protected Attributes
unsigned int	improveAttempts_
	Number of attempts to improve a valid sample.
StateSamplerPtr	sampler_
	The sampler to build upon.
Private Attributes
State *	work_
	Temporary work area.

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Detailed Description

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

Definition at line 50 of file MaximizeClearanceValidStateSampler.h.

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Constructor & Destructor Documentation

ompl::base::MaximizeClearanceValidStateSampler::MaximizeClearanceValidStateSampler

(

const SpaceInformation *

si

)

Constructor.

virtual ompl::base::MaximizeClearanceValidStateSampler::~MaximizeClearanceValidStateSampler

(

void

)

[virtual]

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Member Function Documentation

unsigned int ompl::base::MaximizeClearanceValidStateSampler::getNrImproveAttempts

(

void

)

const [inline]

Get the number of attempts to improve a sampled state.

Definition at line 70 of file MaximizeClearanceValidStateSampler.h.

virtual bool ompl::base::MaximizeClearanceValidStateSampler::sample

(

State *

state

)

[virtual]

Sample a state. Return false in case of failure.

Implements ompl::base::ValidStateSampler.

virtual bool ompl::base::MaximizeClearanceValidStateSampler::sampleNear	(	State *	state,
		const State *	near,
		const double	distance
	)			[virtual]

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

Implements ompl::base::ValidStateSampler.

void ompl::base::MaximizeClearanceValidStateSampler::setNrImproveAttempts

(

unsigned int

attempts

)

[inline]

The number of attempts at improving the clearance of the sampled state.

Definition at line 64 of file MaximizeClearanceValidStateSampler.h.

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Member Data Documentation

unsigned int ompl::base::MaximizeClearanceValidStateSampler::improveAttempts_ [protected]

Number of attempts to improve a valid sample.

Definition at line 81 of file MaximizeClearanceValidStateSampler.h.

StateSamplerPtr ompl::base::MaximizeClearanceValidStateSampler::sampler_ [protected]

The sampler to build upon.

Definition at line 78 of file MaximizeClearanceValidStateSampler.h.

State* ompl::base::MaximizeClearanceValidStateSampler::work_ [private]

Temporary work area.

Definition at line 85 of file MaximizeClearanceValidStateSampler.h.

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The documentation for this class was generated from the following file:

• MaximizeClearanceValidStateSampler.h