37 #include "ompl/base/samplers/ObstacleBasedValidStateSampler.h"
38 #include "ompl/base/SpaceInformation.h"
43 name_ =
"obstacle_based";
49 unsigned int attempts = 0;
53 sampler_->sampleUniform(state);
54 valid = si_->isValid(state);
56 }
while (valid && attempts < attempts_);
61 State *temp = si_->allocState();
65 sampler_->sampleUniform(temp);
66 valid = si_->isValid(temp);
68 }
while (!valid && attempts < attempts_);
74 std::pair<State*, double> fail(state, 0.0);
75 si_->checkMotion(temp, state, fail);
86 unsigned int attempts = 0;
90 sampler_->sampleUniformNear(state, near, distance);
91 valid = si_->isValid(state);
93 }
while (valid && attempts < attempts_);
98 State *temp = si_->allocState();
102 sampler_->sampleUniform(temp);
103 valid = si_->isValid(temp);
105 }
while (!valid && attempts < attempts_);
111 std::pair<State*, double> fail(state, 0.0);
112 si_->checkMotion(temp, state, fail);
115 si_->freeState(temp);