ObstacleBasedValidStateSampler.h
A shared pointer wrapper for ompl::base::StateSampler.
Generate valid samples using obstacle based sampling. First sample an invalid state, then sample a valid state. Then, interpolate from the invalid state to the valid state, returning the first valid state encountered.
Definition: ObstacleBasedValidStateSampler.h:57
ObstacleBasedValidStateSampler(const SpaceInformation *si)
Constructor.
Definition: ObstacleBasedValidStateSampler.cpp:40
Abstract definition of a state sampler.
Definition: ValidStateSampler.h:62
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:81
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
Definition: ObstacleBasedValidStateSampler.cpp:82
bool sample(State *state) override
Sample a state. Return false in case of failure.
Definition: ObstacleBasedValidStateSampler.cpp:46