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UniformValidStateSampler.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/samplers/UniformValidStateSampler.h"
38#include "ompl/base/SpaceInformation.h"
39
41 : ValidStateSampler(si), sampler_(si->allocStateSampler())
42{
43 name_ = "uniform";
44}
45
47{
48 unsigned int attempts = 0;
49 bool valid = false;
50 do
51 {
52 sampler_->sampleUniform(state);
53 valid = si_->isValid(state);
54 ++attempts;
55 } while (!valid && attempts < attempts_);
56 return valid;
57}
58
59bool ompl::base::UniformValidStateSampler::sampleNear(State *state, const State *near, const double distance)
60{
61 unsigned int attempts = 0;
62 bool valid = false;
63 do
64 {
65 sampler_->sampleUniformNear(state, near, distance);
66 valid = si_->isValid(state);
67 ++attempts;
68 } while (!valid && attempts < attempts_);
69 return valid;
70}
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
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.
std::string name_
The name of the sampler.