ObstacleBasedValidStateSampler.cpp
40 ompl::base::ObstacleBasedValidStateSampler::ObstacleBasedValidStateSampler(const SpaceInformation *si) :
83 bool ompl::base::ObstacleBasedValidStateSampler::sampleNear(State *state, const State *near, const double distance)
virtual bool sample(State *state)
Sample a state. Return false in case of failure.
Definition: ObstacleBasedValidStateSampler.cpp:46
const SpaceInformation * si_
The state space this sampler samples.
Definition: ValidStateSampler.h:122
bool isValid(const State *state) const
Check if a given state is valid or not.
Definition: SpaceInformation.h:98
ObstacleBasedValidStateSampler(const SpaceInformation *si)
Constructor.
Definition: ObstacleBasedValidStateSampler.cpp:40
Abstract definition of a state sampler.
Definition: ValidStateSampler.h:65
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:86
unsigned int attempts_
Number of attempts to find a valid sample.
Definition: ValidStateSampler.h:125
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: ObstacleBasedValidStateSampler.cpp:83
bool checkMotion(const State *s1, const State *s2, std::pair< State *, double > &lastValid) const
Incrementally check if the path between two motions is valid. Also compute the last state that was va...
Definition: SpaceInformation.h:326