base::MaximizeClearanceValidStateSampler Class Reference

Generate valid samples randomly, but with a bias towards higher clearance. More...

#include <ompl/base/samplers/MaximizeClearanceValidStateSampler.h>

Inheritance diagram for base::MaximizeClearanceValidStateSampler:

List of all members.

Public Member Functions

 MaximizeClearanceValidStateSampler (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.
void setNrImproveAttempts (unsigned int attempts)
 The number of attempts at improving the clearance of the sampled state.
unsigned int getNrImproveAttempts () const
 Get the number of attempts to improve a sampled state.

Protected Attributes

StateSamplerPtr sampler_
 The sampler to build upon.
unsigned int improveAttempts_
 Number of attempts to improve a valid sample.

Detailed Description

Generate valid samples randomly, but with a bias towards higher clearance.

Definition at line 50 of file MaximizeClearanceValidStateSampler.h.


Member Function Documentation

bool base::MaximizeClearanceValidStateSampler::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 88 of file MaximizeClearanceValidStateSampler.cpp.


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