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:

List of all members.

Public Member Functions
	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.
unsigned int	getNrImproveAttempts (void) 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.

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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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Member Function Documentation

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.

Definition at line 85 of file MaximizeClearanceValidStateSampler.cpp.

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

• src/ompl/base/samplers/MaximizeClearanceValidStateSampler.h
• src/ompl/base/samplers/src/MaximizeClearanceValidStateSampler.cpp