Generate valid samples randomly, but with a bias towards higher clearance. More...
#include <MaximizeClearanceValidStateSampler.h>
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. |
Generate valid samples randomly, but with a bias towards higher clearance.
Definition at line 50 of file MaximizeClearanceValidStateSampler.h.
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.
Implements ompl::base::ValidStateSampler.
Definition at line 85 of file MaximizeClearanceValidStateSampler.cpp.