MaximizeClearanceValidStateSampler.h
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.
Definition: MaximizeClearanceValidStateSampler.cpp:88
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual bool sample(State *state)
Sample a state. Return false in case of failure.
Definition: MaximizeClearanceValidStateSampler.cpp:54
Generate valid samples randomly, but with a bias towards higher clearance.
Definition: MaximizeClearanceValidStateSampler.h:50
StateSamplerPtr sampler_
The sampler to build upon.
Definition: MaximizeClearanceValidStateSampler.h:78
Abstract definition of a state sampler.
Definition: ValidStateSampler.h:65
unsigned int getNrImproveAttempts() const
Get the number of attempts to improve a sampled state.
Definition: MaximizeClearanceValidStateSampler.h:70
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:86
MaximizeClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
Definition: MaximizeClearanceValidStateSampler.cpp:40
unsigned int improveAttempts_
Number of attempts to improve a valid sample.
Definition: MaximizeClearanceValidStateSampler.h:81
void setNrImproveAttempts(unsigned int attempts)
The number of attempts at improving the clearance of the sampled state.
Definition: MaximizeClearanceValidStateSampler.h:64