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RobWorkProject
25.2.11-
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samples another state sampler until it returns a collision free state. More...
#include <CollisionFreeSampler.hpp>
Inherits StateSampler.
Public Member Functions | |
CollisionFreeSampler (StateSampler::Ptr sampler, rw::core::Ptr< rw::proximity::CollisionDetector > detector, int n=-1) | |
constructor More... | |
virtual | ~CollisionFreeSampler () |
destructor | |
bool | sample (rw::kinematics::State &state) |
Sample a state. More... | |
bool | empty () const |
True if the sampler is known to contain no more configurations. More... | |
Additional Inherited Members | |
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typedef rw::core::Ptr< StateSampler > | Ptr |
samples another state sampler until it returns a collision free state.
CollisionFreeSampler | ( | StateSampler::Ptr | sampler, |
rw::core::Ptr< rw::proximity::CollisionDetector > | detector, | ||
int | n = -1 |
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constructor
sampler | [in] the sampler that is to be wrapped |
detector | [in] the collision detector |
n | [in] max nr of tries pr sample request |
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inlinevirtual |
True if the sampler is known to contain no more configurations.
Implements StateSampler.
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virtual |
Sample a state.
If sampling fails, the sampler may return the empty configuration. If empty() is true then the sampler has no more configurations. Otherwise sample() may (or may not) succeed if called a second time.
Implements StateSampler.