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:
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.
The documentation for this class was generated from the following files:
- ompl/base/samplers/MaximizeClearanceValidStateSampler.h
- ompl/base/samplers/src/MaximizeClearanceValidStateSampler.cpp