UniformValidStateSampler.h
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35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_SAMPLERS_UNIFORM_VALID_STATE_SAMPLER_
38#define OMPL_BASE_SAMPLERS_UNIFORM_VALID_STATE_SAMPLER_
39
40#include "ompl/base/ValidStateSampler.h"
41#include "ompl/base/StateSampler.h"
42
43namespace ompl
44{
45 namespace base
46 {
49 {
50 public:
53
54 ~UniformValidStateSampler() override = default;
55
56 bool sample(State *state) override;
57 bool sampleNear(State *state, const State *near, double distance) override;
58
59 protected:
62 };
63 }
64}
65
66#endif
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
A state sampler that only samples valid states, uniformly.
StateSamplerPtr sampler_
The sampler to build upon.
UniformValidStateSampler(const SpaceInformation *si)
Constructor.
bool sample(State *state) override
Sample a state. Return false in case of failure.
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
Abstract definition of a state sampler.
Main namespace. Contains everything in this library.