37 #ifndef OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_MAXIMIZE_CLEARANCE_VALID_STATE_SAMPLER_
40 #include "ompl/base/ValidStateSampler.h"
41 #include "ompl/base/StateSampler.h"
virtual bool sampleNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance. Return false, in case of failure.
unsigned int getNrImproveAttempts(void) const
Get the number of attempts to improve a sampled state.
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual bool sample(State *state)
Sample a state. Return false in case of failure.
Generate valid samples randomly, but with a bias towards higher clearance.
StateSamplerPtr sampler_
The sampler to build upon.
Abstract definition of a state sampler.
Definition of an abstract state.
MaximizeClearanceValidStateSampler(const SpaceInformation *si)
Constructor.
unsigned int improveAttempts_
Number of attempts to improve a valid sample.
void setNrImproveAttempts(unsigned int attempts)
The number of attempts at improving the clearance of the sampled state.