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ValidStateSampler.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/ValidStateSampler.h"
38#include "ompl/tools/config/MagicConstants.h"
39
40ompl::base::ValidStateSampler::ValidStateSampler(const SpaceInformation *si)
41 : si_(si), attempts_(magic::MAX_VALID_SAMPLE_ATTEMPTS), name_("not set")
42{
43 params_.declareParam<unsigned int>("nr_attempts",
44 [this](unsigned int n)
45 {
47 },
48 [this]
49 {
50 return getNrAttempts();
51 });
52}
53
54ompl::base::ValidStateSampler::~ValidStateSampler() = default;
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=[] { return T();})
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:231
The base class for space information. This contains all the information about the space planning is d...
ParamSet params_
The parameters for this instance of the valid state sampler.
void setNrAttempts(unsigned int attempts)
Finding a valid sample usually requires performing multiple attempts. This call allows setting the nu...
unsigned int getNrAttempts() const
Get the number of attempts to be performed by the sampling routine.