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MaximizeClearanceValidStateSampler.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/samplers/MaximizeClearanceValidStateSampler.h"
38#include "ompl/base/SpaceInformation.h"
39
41 : ValidStateSampler(si), sampler_(si->allocStateSampler()), improveAttempts_(3), work_(si->allocState())
42{
43 name_ = "max_clearance";
44 params_.declareParam<unsigned int>("nr_improve_attempts",
45 [this](unsigned int n)
46 {
48 },
49 [this]
50 {
51 return getNrImproveAttempts();
52 });
53}
54
55ompl::base::MaximizeClearanceValidStateSampler::~MaximizeClearanceValidStateSampler()
56{
57 si_->freeState(work_);
58}
59
61{
62 unsigned int attempts = 0;
63 bool valid = false;
64 double dist = 0.0;
65 do
66 {
67 sampler_->sampleUniform(state);
68 valid = si_->getStateValidityChecker()->isValid(state, dist);
69 ++attempts;
70 } while (!valid && attempts < attempts_);
71
72 if (valid)
73 {
74 bool validW = false;
75 double distW = 0.0;
76 attempts = 0;
77 while (attempts < improveAttempts_)
78 {
79 sampler_->sampleUniform(work_);
80 validW = si_->getStateValidityChecker()->isValid(work_, distW);
81 ++attempts;
82 if (validW && distW > dist)
83 {
84 dist = distW;
85 si_->copyState(state, work_);
86 }
87 }
88 return true;
89 }
90 return false;
91}
92
93bool ompl::base::MaximizeClearanceValidStateSampler::sampleNear(State *state, const State *near, const double distance)
94{
95 unsigned int attempts = 0;
96 bool valid = false;
97 double dist = 0.0;
98 do
99 {
100 sampler_->sampleUniformNear(state, near, distance);
101 valid = si_->getStateValidityChecker()->isValid(state, dist);
102 ++attempts;
103 } while (!valid && attempts < attempts_);
104
105 if (valid)
106 {
107 bool validW = false;
108 double distW = 0.0;
109 attempts = 0;
110 while (attempts < improveAttempts_)
111 {
112 sampler_->sampleUniformNear(work_, near, distance);
113 validW = si_->getStateValidityChecker()->isValid(work_, distW);
114 ++attempts;
115 if (validW && distW > dist)
116 {
117 dist = distW;
118 si_->copyState(state, work_);
119 }
120 }
121 return true;
122 }
123 return false;
124}
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
unsigned int improveAttempts_
Number of attempts to improve a valid sample.
bool sample(State *state) override
Sample a state. Return false in case of failure.
unsigned int getNrImproveAttempts() const
Get the number of attempts to improve a sampled state.
MaximizeClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
void setNrImproveAttempts(unsigned int attempts)
The number of attempts at improving the clearance of the sampled state.
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
ParamSet params_
The parameters for this instance of the valid state sampler.
const SpaceInformation * si_
The state space this sampler samples.
std::string name_
The name of the sampler.
unsigned int attempts_
Number of attempts to find a valid sample.