samples another state sampler until it returns a collision free state. More...

#include <CollisionFreeSampler.hpp>

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
Public Types inherited from StateSampler
typedef rw::core::Ptr< StateSampler >	Ptr

Detailed Description

samples another state sampler until it returns a collision free state.

Constructor & Destructor Documentation

◆ CollisionFreeSampler()

CollisionFreeSampler	(	StateSampler::Ptr	sampler,
		rw::core::Ptr< rw::proximity::CollisionDetector >	detector,
		int	n = `-1`
	)

constructor

Parameters

sampler	[in] the sampler that is to be wrapped
detector	[in] the collision detector
n	[in] max nr of tries pr sample request

Member Function Documentation

◆ empty()

bool empty ( ) const

inlinevirtual

True if the sampler is known to contain no more configurations.

Implements StateSampler.

◆ sample()

bool sample ( rw::kinematics::State & state )

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.