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ObstacleBasedValidStateSampler.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/samplers/ObstacleBasedValidStateSampler.h"
38#include "ompl/base/SpaceInformation.h"
39
41 : ValidStateSampler(si), sampler_(si->allocStateSampler())
42{
43 name_ = "obstacle_based";
44}
45
47{
48 // find invalid state
49 unsigned int attempts = 0;
50 bool valid = true;
51 do
52 {
53 sampler_->sampleUniform(state);
54 valid = si_->isValid(state);
55 ++attempts;
56 } while (valid && attempts < attempts_);
57 if (valid)
58 return false;
59
60 // find a valid state
61 State *temp = si_->allocState();
62 attempts = 0;
63 do
64 {
65 sampler_->sampleUniform(temp);
66 valid = si_->isValid(temp);
67 ++attempts;
68 } while (!valid && attempts < attempts_);
69
70 // keep the last valid state, before collision
71 if (valid)
72 {
73 std::pair<State *, double> fail(state, 0.0);
74 si_->checkMotion(temp, state, fail);
75 }
76
77 si_->freeState(temp);
78
79 return valid;
80}
81
82bool ompl::base::ObstacleBasedValidStateSampler::sampleNear(State *state, const State *near, const double distance)
83{
84 // find invalid state nearby
85 unsigned int attempts = 0;
86 bool valid = true;
87 do
88 {
89 sampler_->sampleUniformNear(state, near, distance);
90 valid = si_->isValid(state);
91 ++attempts;
92 } while (valid && attempts < attempts_);
93 if (valid)
94 return false;
95
96 // find a valid state
97 State *temp = si_->allocState();
98 attempts = 0;
99 do
100 {
101 sampler_->sampleUniform(temp);
102 valid = si_->isValid(temp);
103 ++attempts;
104 } while (!valid && attempts < attempts_);
105
106 // keep the last valid state, before collision
107 if (valid)
108 {
109 std::pair<State *, double> fail(state, 0.0);
110 si_->checkMotion(temp, state, fail);
111 }
112
113 si_->freeState(temp);
114
115 return valid;
116}
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
ObstacleBasedValidStateSampler(const SpaceInformation *si)
Constructor.
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...
Definition of an abstract state.
Definition: State.h:50
Abstract definition of a state sampler.
std::string name_
The name of the sampler.