MinimumClearanceValidStateSampler.h
A shared pointer wrapper for ompl::base::StateSampler.
Generate valid samples randomly with extra requirement of min for clearance to nearest obstacle...
Definition: MinimumClearanceValidStateSampler.h:55
double clearance_
Minimum required distance of sample from nearest obstacle to be considered valid. ...
Definition: MinimumClearanceValidStateSampler.h:85
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 sample(State *state) override
Sample a state. Return false in case of failure.
Definition: MinimumClearanceValidStateSampler.cpp:58
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: MinimumClearanceValidStateSampler.cpp:80
MinimumClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
Definition: MinimumClearanceValidStateSampler.cpp:43
void setMinimumObstacleClearance(double clearance)
Set the minimum required distance of sample from nearest obstacle to be considered valid...
Definition: MinimumClearanceValidStateSampler.h:69
double getMinimumObstacleClearance() const
Get the minimum required distance of sample from nearest obstacle to be considered valid...
Definition: MinimumClearanceValidStateSampler.h:75
StateSamplerPtr sampler_
The sampler to build upon.
Definition: MinimumClearanceValidStateSampler.h:82