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GaussianValidStateSampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/samplers/GaussianValidStateSampler.h"
38 #include "ompl/base/SpaceInformation.h"
39 #include "ompl/tools/config/MagicConstants.h"
40 
42  ValidStateSampler(si), sampler_(si->allocStateSampler()), stddev_(si->getMaximumExtent() * magic::STD_DEV_AS_SPACE_EXTENT_FRACTION)
43 {
44  name_ = "gaussian";
45  params_.declareParam<double>("standard_deviation",
46  boost::bind(&GaussianValidStateSampler::setStdDev, this, _1),
47  boost::bind(&GaussianValidStateSampler::getStdDev, this));
48 }
49 
51 {
52  bool result = false;
53  unsigned int attempts = 0;
54  State *temp = si_->allocState();
55  do
56  {
57  sampler_->sampleUniform(state);
58  bool v1 = si_->isValid(state);
59  sampler_->sampleGaussian(temp, state, stddev_);
60  bool v2 = si_->isValid(temp);
61  if (v1 != v2)
62  {
63  if (v2)
64  si_->copyState(state, temp);
65  result = true;
66  }
67  ++attempts;
68  } while (!result && attempts < attempts_);
69  si_->freeState(temp);
70  return result;
71 }
72 
73 bool ompl::base::GaussianValidStateSampler::sampleNear(State *state, const State *near, const double distance)
74 {
75  bool result = false;
76  unsigned int attempts = 0;
77  State *temp = si_->allocState();
78  do
79  {
80  sampler_->sampleUniformNear(state, near, distance);
81  bool v1 = si_->isValid(state);
82  sampler_->sampleGaussian(temp, state, distance);
83  bool v2 = si_->isValid(temp);
84  if (v1 != v2)
85  {
86  if (v2)
87  si_->copyState(state, temp);
88  result = true;
89  }
90  ++attempts;
91  } while (!result && attempts < attempts_);
92  si_->freeState(temp);
93  return result;
94 }
virtual bool sample(State *state)
Sample a state. Return false in case of failure.
double getStdDev(void) const
Get the standard deviation used when sampling.
Abstract definition of a state sampler.
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.
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
GaussianValidStateSampler(const SpaceInformation *si)
Constructor.
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=typename SpecificParam< T >::GetterFn())
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:222
void setStdDev(double stddev)
Set the standard deviation to use when sampling.
ParamSet params_
The parameters for this instance of the valid state sampler.
std::string name_
The name of the sampler.