MaximizeClearanceValidStateSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
39 
40 #include "ompl/base/ValidStateSampler.h"
41 #include "ompl/base/StateSampler.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
47 
48 
51  {
52  public:
53 
56 
58 
59  virtual bool sample(State *state);
60 
61  virtual bool sampleNear(State *state, const State *near, const double distance);
62 
64  void setNrImproveAttempts(unsigned int attempts)
65  {
66  improveAttempts_ = attempts;
67  }
68 
70  unsigned int getNrImproveAttempts() const
71  {
72  return improveAttempts_;
73  }
74 
75  protected:
76 
79 
81  unsigned int improveAttempts_;
82 
83  private:
85  State *work_;
86  };
87 
88  }
89 }
90 
91 
92 #endif
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.
A boost shared pointer wrapper for ompl::base::StateSampler.
unsigned int getNrImproveAttempts() const
Get the number of attempts to improve a sampled state.
virtual bool sample(State *state)
Sample a state. Return false in case of failure.
Generate valid samples randomly, but with a bias towards higher clearance.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
Abstract definition of a state sampler.
The base class for space information. This contains all the information about the space planning is d...
Definition of an abstract state.
Definition: State.h:50
MaximizeClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
unsigned int improveAttempts_
Number of attempts to improve a valid sample.
void setNrImproveAttempts(unsigned int attempts)
The number of attempts at improving the clearance of the sampled state.