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<div class="title">BridgeTestValidStateSampler.h</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2017,</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * National Institute of Advanced Industrial Science and</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> * Technology (AIST)</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment"> * are met:</span></div>
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<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment"> * copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment"> * * Neither the name of the National Institute of Advanced Industrial</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment"> * Science and Technology nor the names of its contributors may be</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"> * used to endorse or promote products derived from this software</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment"> * without specific prior written permission.</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno"> 34</span> <span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</span> <span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="comment">/* Author: Andreas Orthey */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#ifndef OMPL_BASE_SAMPLERS_BRIDGE_TEST_VALID_STATE_SAMPLER_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#define OMPL_BASE_SAMPLERS_BRIDGE_TEST_VALID_STATE_SAMPLER_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  </div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include "ompl/base/StateSampler.h"</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include "ompl/base/ValidStateSampler.h"</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> {</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  <span class="keyword">namespace </span>base</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keyword">class </span>BridgeTestValidStateSampler : <span class="keyword">public</span> ValidStateSampler</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  {</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <a class="code" href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a7a54fdc1219e1e97e913bfe8f5b70cbb">BridgeTestValidStateSampler</a>(<span class="keyword">const</span> SpaceInformation *si);</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  </div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  ~<a class="code" href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a7a54fdc1219e1e97e913bfe8f5b70cbb">BridgeTestValidStateSampler</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#ac413d16a7fbfc3444a6130cbe5d19ef9">sample</a>(State *state) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a074bddcce58bffe7223f0ccc74030916">sampleNear</a>(State *state, <span class="keyword">const</span> State *near, <span class="keywordtype">double</span> distance) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a36c48b27b33a929d3963c619c331a519">getStdDev</a>()<span class="keyword"> const</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span> <span class="keyword"> </span>{</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a5d6f929ed8bc083bcd06038d48ce0bc0">stddev_</a>;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  }</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#afca3149256aec6d8bdb5ae815bfe2e15">setStdDev</a>(<span class="keywordtype">double</span> stddev)</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a5d6f929ed8bc083bcd06038d48ce0bc0">stddev_</a> = stddev;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  }</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  </div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> <a class="code" href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#ab4300e38a407b9aa5b6df7ae949dd5a4">sampler_</a>;</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  </div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordtype">double</span> <a class="code" href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a5d6f929ed8bc083bcd06038d48ce0bc0">stddev_</a>;</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  };</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  }</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> }</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> <span class="preprocessor">#endif</span></div>
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<div class="ttc" id="aclassompl_1_1base_1_1BridgeTestValidStateSampler_html_ab4300e38a407b9aa5b6df7ae949dd5a4"><div class="ttname"><a href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#ab4300e38a407b9aa5b6df7ae949dd5a4">ompl::base::BridgeTestValidStateSampler::sampler_</a></div><div class="ttdeci">StateSamplerPtr sampler_</div><div class="ttdoc">The sampler to build upon.</div><div class="ttdef"><b>Definition:</b> <a href="BridgeTestValidStateSampler_8h_source.html#l00196">BridgeTestValidStateSampler.h:196</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1BridgeTestValidStateSampler_html_ac413d16a7fbfc3444a6130cbe5d19ef9"><div class="ttname"><a href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#ac413d16a7fbfc3444a6130cbe5d19ef9">ompl::base::BridgeTestValidStateSampler::sample</a></div><div class="ttdeci">bool sample(State *state) override</div><div class="ttdoc">Sample a state. Return false in case of failure.</div><div class="ttdef"><b>Definition:</b> <a href="BridgeTestValidStateSampler_8cpp_source.html#l00015">BridgeTestValidStateSampler.cpp:15</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1BridgeTestValidStateSampler_html_a36c48b27b33a929d3963c619c331a519"><div class="ttname"><a href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a36c48b27b33a929d3963c619c331a519">ompl::base::BridgeTestValidStateSampler::getStdDev</a></div><div class="ttdeci">double getStdDev() const</div><div class="ttdoc">Get the standard deviation used when sampling.</div><div class="ttdef"><b>Definition:</b> <a href="BridgeTestValidStateSampler_8h_source.html#l00183">BridgeTestValidStateSampler.h:183</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1BridgeTestValidStateSampler_html_afca3149256aec6d8bdb5ae815bfe2e15"><div class="ttname"><a href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#afca3149256aec6d8bdb5ae815bfe2e15">ompl::base::BridgeTestValidStateSampler::setStdDev</a></div><div class="ttdeci">void setStdDev(double stddev)</div><div class="ttdoc">Set the standard deviation to use when sampling.</div><div class="ttdef"><b>Definition:</b> <a href="BridgeTestValidStateSampler_8h_source.html#l00189">BridgeTestValidStateSampler.h:189</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1BridgeTestValidStateSampler_html_a5d6f929ed8bc083bcd06038d48ce0bc0"><div class="ttname"><a href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a5d6f929ed8bc083bcd06038d48ce0bc0">ompl::base::BridgeTestValidStateSampler::stddev_</a></div><div class="ttdeci">double stddev_</div><div class="ttdoc">The standard deviation to use in the sampling process.</div><div class="ttdef"><b>Definition:</b> <a href="BridgeTestValidStateSampler_8h_source.html#l00199">BridgeTestValidStateSampler.h:199</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1BridgeTestValidStateSampler_html_a7a54fdc1219e1e97e913bfe8f5b70cbb"><div class="ttname"><a href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a7a54fdc1219e1e97e913bfe8f5b70cbb">ompl::base::BridgeTestValidStateSampler::BridgeTestValidStateSampler</a></div><div class="ttdeci">BridgeTestValidStateSampler(const SpaceInformation *si)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="BridgeTestValidStateSampler_8cpp_source.html#l00005">BridgeTestValidStateSampler.cpp:5</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1BridgeTestValidStateSampler_html_a074bddcce58bffe7223f0ccc74030916"><div class="ttname"><a href="classompl_1_1base_1_1BridgeTestValidStateSampler.html#a074bddcce58bffe7223f0ccc74030916">ompl::base::BridgeTestValidStateSampler::sampleNear</a></div><div class="ttdeci">bool sampleNear(State *state, const State *near, double distance) override</div><div class="ttdoc">Sample a state near another, within specified distance. Return false, in case of failure.</div><div class="ttdef"><b>Definition:</b> <a href="BridgeTestValidStateSampler_8cpp_source.html#l00041">BridgeTestValidStateSampler.cpp:41</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1StateSamplerPtr_html"><div class="ttname"><a href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::base::StateSampler.</div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
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