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<div class="title">ompl::base::ValidStateSampler Class Reference</div> </div>
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<!-- doxytag: class="ompl::base::ValidStateSampler" -->
<p>Abstract definition of a state sampler.
<a href="classompl_1_1base_1_1ValidStateSampler.html#details">More...</a></p>
<p><code>#include <<a class="el" href="ValidStateSampler_8h_source.html">ValidStateSampler.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::ValidStateSampler:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1base_1_1ValidStateSampler__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1ValidStateSampler_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1ValidStateSampler_inherit__map" id="ompl_1_1base_1_1ValidStateSampler_inherit__map">
<area shape="rect" id="node3" href="classompl_1_1base_1_1GaussianValidStateSampler.html" title="Generate valid samples using the Gaussian sampling strategy." alt="" coords="287,5,543,35"/><area shape="rect" id="node5" href="classompl_1_1base_1_1MaximizeClearanceValidStateSampler.html" title="Generate valid samples randomly, but with a bias towards higher clearance." alt="" coords="256,59,573,88"/><area shape="rect" id="node7" href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html" title="Generate valid samples using the Bridge Test." alt="" coords="269,112,560,141"/><area shape="rect" id="node9" href="classompl_1_1base_1_1UniformValidStateSampler.html" title="A state sampler that only samples valid states, uniformly." alt="" coords="291,165,539,195"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_1_1ValidStateSampler-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5893d51bbce7621ab0d00306d066496c"></a><!-- doxytag: member="ompl::base::ValidStateSampler::ValidStateSampler" ref="a5893d51bbce7621ab0d00306d066496c" args="(const SpaceInformation *si)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html#a5893d51bbce7621ab0d00306d066496c">ValidStateSampler</a> (const <a class="el" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a> *si)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af7a4903ec6a15f34d43a48b33191f0b1"></a><!-- doxytag: member="ompl::base::ValidStateSampler::getName" ref="af7a4903ec6a15f34d43a48b33191f0b1" args="(void) const " -->
const std::string & </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html#af7a4903ec6a15f34d43a48b33191f0b1">getName</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the name of the sampler. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a03d9547f1d25a7f2f6f60edb5adfe56d"></a><!-- doxytag: member="ompl::base::ValidStateSampler::setName" ref="a03d9547f1d25a7f2f6f60edb5adfe56d" args="(const std::string &name)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html#a03d9547f1d25a7f2f6f60edb5adfe56d">setName</a> (const std::string &name)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Set the name of the sampler. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a011ee3910d747d806b00ff71bb66e1ea"></a><!-- doxytag: member="ompl::base::ValidStateSampler::sample" ref="a011ee3910d747d806b00ff71bb66e1ea" args="(State *state)=0" -->
virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html#a011ee3910d747d806b00ff71bb66e1ea">sample</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a state. Return false in case of failure. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html#a86a022797e62aa7953d5381f0109c6a2">sampleNear</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *near, const double distance)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a state near another, within specified distance. Return false, in case of failure. <a href="#a86a022797e62aa7953d5381f0109c6a2"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa134892ca5a8ae0c5ec2e37693787090"></a><!-- doxytag: member="ompl::base::ValidStateSampler::setNrAttempts" ref="aa134892ca5a8ae0c5ec2e37693787090" args="(unsigned int attempts)" -->
void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html#aa134892ca5a8ae0c5ec2e37693787090">setNrAttempts</a> (unsigned int attempts)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Finding a valid sample usually requires performing multiple attempts. This call allows setting the number of such attempts. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abaafd349d971a98d0e9b072a243cb500"></a><!-- doxytag: member="ompl::base::ValidStateSampler::getNrAttempts" ref="abaafd349d971a98d0e9b072a243cb500" args="(void) const " -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html#abaafd349d971a98d0e9b072a243cb500">getNrAttempts</a> (void) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the number of attempts to be performed by the sampling routine. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a66930cdb64d8d71e3b6ba5a5a1aee223"></a><!-- doxytag: member="ompl::base::ValidStateSampler::si_" ref="a66930cdb64d8d71e3b6ba5a5a1aee223" args="" -->
const <a class="el" href="classompl_1_1base_1_1SpaceInformation.html">SpaceInformation</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html#a66930cdb64d8d71e3b6ba5a5a1aee223">si_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The state space this sampler samples. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acb624beff24c591763f5d9fc8e38037f"></a><!-- doxytag: member="ompl::base::ValidStateSampler::attempts_" ref="acb624beff24c591763f5d9fc8e38037f" args="" -->
unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html#acb624beff24c591763f5d9fc8e38037f">attempts_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of attempts to find a valid sample. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa81e8e1aac6d0c7a114aaa69b33a6631"></a><!-- doxytag: member="ompl::base::ValidStateSampler::name_" ref="aa81e8e1aac6d0c7a114aaa69b33a6631" args="" -->
std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1ValidStateSampler.html#aa81e8e1aac6d0c7a114aaa69b33a6631">name_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The name of the sampler. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Abstract definition of a state sampler. </p>
<p>Definition at line <a class="el" href="ValidStateSampler_8h_source.html#l00060">60</a> of file <a class="el" href="ValidStateSampler_8h_source.html">ValidStateSampler.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="a86a022797e62aa7953d5381f0109c6a2"></a><!-- doxytag: member="ompl::base::ValidStateSampler::sampleNear" ref="a86a022797e62aa7953d5381f0109c6a2" args="(State *state, const State *near, const double distance)=0" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">virtual bool ompl::base::ValidStateSampler::sampleNear </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>state</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>near</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>distance</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [pure virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Sample a state near another, within specified distance. Return false, in case of failure. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>The memory for <em>near</em> must be disjoint from the memory for <em>state</em> </dd></dl>
<p>Implemented in <a class="el" href="classompl_1_1base_1_1GaussianValidStateSampler.html#afc6097a6245bc5ef69f4b64cc9c2a9cc">ompl::base::GaussianValidStateSampler</a>, <a class="el" href="classompl_1_1base_1_1MaximizeClearanceValidStateSampler.html#a077af975ea537fdad022383511ac85e9">ompl::base::MaximizeClearanceValidStateSampler</a>, <a class="el" href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html#afad6b002b2e87c31bae6ac5693709829">ompl::base::ObstacleBasedValidStateSampler</a>, and <a class="el" href="classompl_1_1base_1_1UniformValidStateSampler.html#a57f0088c965889490906f71ce4c64397">ompl::base::UniformValidStateSampler</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/<a class="el" href="ValidStateSampler_8h_source.html">ValidStateSampler.h</a></li>
<li>src/ompl/base/src/<a class="el" href="ValidStateSampler_8cpp_source.html">ValidStateSampler.cpp</a></li>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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