ompl::base::ValidStateSampler Class Reference

Abstract definition of a state sampler. More...

#include <ValidStateSampler.h>

Inheritance diagram for ompl::base::ValidStateSampler:

List of all members.

Public Member Functions
	ValidStateSampler (const SpaceInformation *si)
	Constructor.
const std::string &	getName (void) const
	Get the name of the sampler.
void	setName (const std::string &name)
	Set the name of the sampler.
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	setNrAttempts (unsigned int attempts)
	Finding a valid sample usually requires performing multiple attempts. This call allows setting the number of such attempts.
unsigned int	getNrAttempts (void) const
	Get the number of attempts to be performed by the sampling routine.
Protected Attributes
const SpaceInformation *	si_
	The state space this sampler samples.
unsigned int	attempts_
	Number of attempts to find a valid sample.
std::string	name_
	The name of the sampler.

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Detailed Description

Abstract definition of a state sampler.

Definition at line 60 of file ValidStateSampler.h.

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Member Function Documentation

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, and ompl::base::UniformValidStateSampler.

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

• src/ompl/base/ValidStateSampler.h
• src/ompl/base/src/ValidStateSampler.cpp