base::ValidStateSampler Class Reference
Abstract definition of a state sampler. More...
#include <ompl/base/ValidStateSampler.h>
Inheritance diagram for base::ValidStateSampler:

Public Member Functions | |
ValidStateSampler (const SpaceInformation *si) | |
Constructor. | |
const std::string & | getName () const |
Get the name of the sampler. | |
void | setName (const std::string &name) |
Set the name of the sampler. | |
virtual bool | sample (State *state)=0 |
Sample a state. Return false in case of failure. | |
virtual bool | sampleNear (State *state, const State *near, const double distance)=0 |
Sample a state near another, within specified distance. Return false, in case of failure. | |
void | setNrAttempts (unsigned int attempts) |
Finding a valid sample usually requires performing multiple attempts. This call allows setting the number of such attempts. | |
unsigned int | getNrAttempts () const |
Get the number of attempts to be performed by the sampling routine. | |
ParamSet & | params () |
Get the parameters for the valid state sampler. | |
const ParamSet & | params () const |
Get the parameters for the valid state sampler. | |
Protected Attributes | |
const SpaceInformation * | si_ |
The state space this sampler samples. | |
unsigned int | attempts_ |
Number of attempts to find a valid sample. | |
std::string | name_ |
The name of the sampler. | |
ParamSet | params_ |
The parameters for this instance of the valid state sampler. |
Detailed Description
Abstract definition of a state sampler.
Definition at line 65 of file ValidStateSampler.h.
Member Function Documentation
virtual bool base::ValidStateSampler::sampleNear | ( | State * | state, |
const State * | near, | ||
const double | distance | ||
) | [pure 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
Implemented in base::ObstacleBasedValidStateSampler, base::UniformValidStateSampler, base::GaussianValidStateSampler, and base::MaximizeClearanceValidStateSampler.
The documentation for this class was generated from the following files:
- ompl/base/ValidStateSampler.h
- ompl/base/src/ValidStateSampler.cpp