base::ObstacleBasedValidStateSampler Class Reference

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>

Inheritance diagram for base::ObstacleBasedValidStateSampler:

List of all members.

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.


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