37 #ifndef OMPL_BASE_SAMPLERS_OBSTACLE_BASED_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_OBSTACLE_BASED_VALID_STATE_SAMPLER_
40 #include "ompl/base/ValidStateSampler.h"
41 #include "ompl/base/StateSampler.h"
virtual bool sample(State *state)
Sample a state. Return false in case of failure.
A boost shared pointer wrapper for ompl::base::StateSampler.
Generate valid samples using obstacle based sampling. First sample an invalid state, then sample a valid state. Then, interpolate from the invalid state to the valid state, returning the first valid state encountered.
ObstacleBasedValidStateSampler(const SpaceInformation *si)
Constructor.
Abstract definition of a state sampler.
Definition of an abstract state.
StateSamplerPtr sampler_
The sampler to build upon.
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.