ompl::base::ValidStateSampler Class Reference

Abstract definition of a state sampler. More...

#include <ValidStateSampler.h>

Inheritance diagram for ompl::base::ValidStateSampler:

[legend]

List of all members.

Public Member Functions
const std::string &	getName (void) const
	Get the name of the sampler.
unsigned int	getNrAttempts (void) const
	Get the number of attempts to be performed by the sampling routine.
virtual bool	sample (State *state)=0
	Sample a state. Return false in case of failure.
virtual bool	sampleNear (State *state, const State *near, const double distance)=0
	Sample a state near another, within specified distance. Return false, in case of failure.
void	setName (const std::string &name)
	Set the name of the sampler.
void	setNrAttempts (unsigned int attempts)
	Finding a valid sample usually requires performing multiple attempts. This call allows setting the number of such attempts.
	ValidStateSampler (const SpaceInformation *si)
	Constructor.
virtual	~ValidStateSampler (void)
Protected Attributes
unsigned int	attempts_
	Number of attempts to find a valid sample.
std::string	name_
	The name of the sampler.
const SpaceInformation *	si_
	The state space this sampler samples.

---

Detailed Description

Abstract definition of a state sampler.

Definition at line 60 of file ValidStateSampler.h.

---

Constructor & Destructor Documentation

ompl::base::ValidStateSampler::ValidStateSampler

(

const SpaceInformation *

si

)

[inline]

Constructor.

Definition at line 65 of file ValidStateSampler.h.

virtual ompl::base::ValidStateSampler::~ValidStateSampler

(

void

)

[inline, virtual]

Definition at line 69 of file ValidStateSampler.h.

---

Member Function Documentation

const std::string& ompl::base::ValidStateSampler::getName

(

void

)

const [inline]

Get the name of the sampler.

Definition at line 74 of file ValidStateSampler.h.

unsigned int ompl::base::ValidStateSampler::getNrAttempts

(

void

)

const [inline]

Get the number of attempts to be performed by the sampling routine.

Definition at line 101 of file ValidStateSampler.h.

virtual bool ompl::base::ValidStateSampler::sample

(

State *

state

)

[pure virtual]

Sample a state. Return false in case of failure.

Implemented in ompl::base::GaussianValidStateSampler, ompl::base::MaximizeClearanceValidStateSampler, ompl::base::ObstacleBasedValidStateSampler, ompl::base::UniformValidStateSampler, and MyValidStateSampler.

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

Implemented in ompl::base::GaussianValidStateSampler, ompl::base::MaximizeClearanceValidStateSampler, ompl::base::ObstacleBasedValidStateSampler, ompl::base::UniformValidStateSampler, and MyValidStateSampler.

void ompl::base::ValidStateSampler::setName

(

const std::string &

name

)

[inline]

Set the name of the sampler.

Definition at line 80 of file ValidStateSampler.h.

void ompl::base::ValidStateSampler::setNrAttempts

(

unsigned int

attempts

)

[inline]

Finding a valid sample usually requires performing multiple attempts. This call allows setting the number of such attempts.

Definition at line 95 of file ValidStateSampler.h.

---

Member Data Documentation

unsigned int ompl::base::ValidStateSampler::attempts_ [protected]

Number of attempts to find a valid sample.

Definition at line 112 of file ValidStateSampler.h.

std::string ompl::base::ValidStateSampler::name_ [protected]

The name of the sampler.

Reimplemented in StateSampling::MyValidStateSampler.

Definition at line 115 of file ValidStateSampler.h.

const SpaceInformation* ompl::base::ValidStateSampler::si_ [protected]

The state space this sampler samples.

Definition at line 109 of file ValidStateSampler.h.

---

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

• ValidStateSampler.h