MinimumClearanceValidStateSampler.h
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35/* Author: Dave Coleman <dave@dav.ee>
36 Desc: Find a valid sample with a minimum distance to nearby obstacles
37 (clearance threshold)
38*/
39
40#ifndef OMPL_BASE_SAMPLERS_MINIMUM_CLEARANCE_VALID_STATE_SAMPLER_
41#define OMPL_BASE_SAMPLERS_MINIMUM_CLEARANCE_VALID_STATE_SAMPLER_
42
43#include "ompl/base/ValidStateSampler.h"
44#include "ompl/base/StateSampler.h"
45
46namespace ompl
47{
48 namespace base
49 {
51 OMPL_CLASS_FORWARD(MinimumClearanceValidStateSampler);
53
56 {
57 public:
60
61 ~MinimumClearanceValidStateSampler() override = default;
62 ;
63
64 bool sample(State *state) override;
65
66 bool sampleNear(State *state, const State *near, double distance) override;
67
69 void setMinimumObstacleClearance(double clearance)
70 {
71 clearance_ = clearance;
72 }
73
76 {
77 return clearance_;
78 }
79
80 protected:
83
85 double clearance_;
86 };
87 }
88}
89
90#endif
Generate valid samples randomly with extra requirement of min for clearance to nearest obstacle.
MinimumClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
double getMinimumObstacleClearance() const
Get the minimum required distance of sample from nearest obstacle to be considered valid.
StateSamplerPtr sampler_
The sampler to build upon.
void setMinimumObstacleClearance(double clearance)
Set the minimum required distance of sample from nearest obstacle to be considered valid.
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
double clearance_
Minimum required distance of sample from nearest obstacle to be considered valid.
bool sample(State *state) override
Sample a state. Return false in case of failure.
The base class for space information. This contains all the information about the space planning is d...
A shared pointer wrapper for ompl::base::StateSampler.
Definition of an abstract state.
Definition: State.h:50
Abstract definition of a state sampler.
Main namespace. Contains everything in this library.