Loading...
Searching...
No Matches
UniformValidStateSampler.h
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2010, Rice University
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Rice University nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
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 {
48 class UniformValidStateSampler : public ValidStateSampler
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
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.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Main namespace. Contains everything in this library.