MaximizeClearanceValidStateSampler.cpp
40 ompl::base::MaximizeClearanceValidStateSampler::MaximizeClearanceValidStateSampler(const SpaceInformation *si) :
41 ValidStateSampler(si), sampler_(si->allocStateSampler()), improveAttempts_(3), work_(si->allocState())
88 bool ompl::base::MaximizeClearanceValidStateSampler::sampleNear(State *state, const State *near, const double distance)
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.
Definition: MaximizeClearanceValidStateSampler.cpp:88
const SpaceInformation * si_
The state space this sampler samples.
Definition: ValidStateSampler.h:122
unsigned int getNrImproveAttempts() const
Get the number of attempts to improve a sampled state.
Definition: MaximizeClearanceValidStateSampler.h:70
virtual bool sample(State *state)
Sample a state. Return false in case of failure.
Definition: MaximizeClearanceValidStateSampler.cpp:54
void copyState(State *destination, const State *source) const
Copy a state to another.
Definition: SpaceInformation.h:244
const StateValidityCheckerPtr & getStateValidityChecker() const
Return the instance of the used state validity checker.
Definition: SpaceInformation.h:164
StateSamplerPtr sampler_
The sampler to build upon.
Definition: MaximizeClearanceValidStateSampler.h:78
Abstract definition of a state sampler.
Definition: ValidStateSampler.h:65
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:86
unsigned int attempts_
Number of attempts to find a valid sample.
Definition: ValidStateSampler.h:125
MaximizeClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
Definition: MaximizeClearanceValidStateSampler.cpp:40
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=typename SpecificParam< T >::GetterFn())
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:240
unsigned int improveAttempts_
Number of attempts to improve a valid sample.
Definition: MaximizeClearanceValidStateSampler.h:81
ParamSet params_
The parameters for this instance of the valid state sampler.
Definition: ValidStateSampler.h:131
void setNrImproveAttempts(unsigned int attempts)
The number of attempts at improving the clearance of the sampled state.
Definition: MaximizeClearanceValidStateSampler.h:64