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. More...
#include <ompl/base/samplers/ObstacleBasedValidStateSampler.h>

Public Member Functions | |
ObstacleBasedValidStateSampler (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. | |
Protected Attributes | |
StateSamplerPtr | sampler_ |
The sampler to build upon. |
Detailed Description
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.
- External documentation
- N. M. Amato, O. B. Bayazit, L. K. Dale, C. Jones, and D. Vallejo, OBPRM: an obstacle-based PRM for 3D workspaces, in Third Workshop on the Algorithmic Foundations of Robotics, pp. 155-168, 1998. [[URL]](https://parasol.tamu.edu/groups/amatogroup/research/OBPRM/)
Definition at line 57 of file ObstacleBasedValidStateSampler.h.
Member Function Documentation
bool base::ObstacleBasedValidStateSampler::sampleNear | ( | State * | state, |
const State * | near, | ||
const double | distance | ||
) | [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
Implements base::ValidStateSampler.
Definition at line 83 of file ObstacleBasedValidStateSampler.cpp.
The documentation for this class was generated from the following files:
- ompl/base/samplers/ObstacleBasedValidStateSampler.h
- ompl/base/samplers/src/ObstacleBasedValidStateSampler.cpp