{"action":"created","issue":{"url":"https://api.github.com/repos/ompl/ompl/issues/71","repository_url":"https://api.github.com/repos/ompl/ompl","labels_url":"https://api.github.com/repos/ompl/ompl/issues/71/labels{/name}","comments_url":"https://api.github.com/repos/ompl/ompl/issues/71/comments","events_url":"https://api.github.com/repos/ompl/ompl/issues/71/events","html_url":"https://github.com/ompl/ompl/pull/71","id":153270307,"number":71,"title":"New valid state sampler w/min obstacle clearance threshold","user":{"login":"davetcoleman","id":561060,"avatar_url":"https://avatars.githubusercontent.com/u/561060?v=3","gravatar_id":"","url":"https://api.github.com/users/davetcoleman","html_url":"https://github.com/davetcoleman","followers_url":"https://api.github.com/users/davetcoleman/followers","following_url":"https://api.github.com/users/davetcoleman/following{/other_user}","gists_url":"https://api.github.com/users/davetcoleman/gists{/gist_id}","starred_url":"https://api.github.com/users/davetcoleman/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/davetcoleman/subscriptions","organizations_url":"https://api.github.com/users/davetcoleman/orgs","repos_url":"https://api.github.com/users/davetcoleman/repos","events_url":"https://api.github.com/users/davetcoleman/events{/privacy}","received_events_url":"https://api.github.com/users/davetcoleman/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2016-05-05T16:33:52Z","updated_at":"2016-05-05T16:53:49Z","closed_at":null,"pull_request":{"url":"https://api.github.com/repos/ompl/ompl/pulls/71","html_url":"https://github.com/ompl/ompl/pull/71","diff_url":"https://github.com/ompl/ompl/pull/71.diff","patch_url":"https://github.com/ompl/ompl/pull/71.patch"},"body":"Implements a sampler as described in [Sparse roadmap spanners for asymptotically near-optimal motion planning](http://ijr.sagepub.com/content/33/1/18.full.pdf) by Andrew Dobson and Kostas E. Bekris. This sampler only accepts states \"for some clearance cl > 0\". This is a missing component in the current SPARS and SPARS2 implementation in OMPL, but I am using it in my current work.\r\n\r\nThis PR also includes an optional settings for state validity checkers that would allow iterative or APPROXIMATE checkers that do an iterative search in increasing distances from the sampled state to have get/set that search distance. This search distance could/should correspond to the above sampler's minimum clearance threshold. The sampler I'm using this setting for is a 2D grid based on PPM image files, but I do not believe its generic enough to go inside OMPL itself."},"comment":{"url":"https://api.github.com/repos/ompl/ompl/issues/comments/217209025","html_url":"https://github.com/ompl/ompl/pull/71#issuecomment-217209025","issue_url":"https://api.github.com/repos/ompl/ompl/issues/71","id":217209025,"user":{"login":"mamoll","id":2381200,"avatar_url":"https://avatars.githubusercontent.com/u/2381200?v=3","gravatar_id":"","url":"https://api.github.com/users/mamoll","html_url":"https://github.com/mamoll","followers_url":"https://api.github.com/users/mamoll/followers","following_url":"https://api.github.com/users/mamoll/following{/other_user}","gists_url":"https://api.github.com/users/mamoll/gists{/gist_id}","starred_url":"https://api.github.com/users/mamoll/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/mamoll/subscriptions","organizations_url":"https://api.github.com/users/mamoll/orgs","repos_url":"https://api.github.com/users/mamoll/repos","events_url":"https://api.github.com/users/mamoll/events{/privacy}","received_events_url":"https://api.github.com/users/mamoll/received_events","type":"User","site_admin":false},"created_at":"2016-05-05T16:53:49Z","updated_at":"2016-05-05T16:53:49Z","body":"Why do you need the changes in StateValidityChecker.h?"}}