GaussianValidStateSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SAMPLERS_GAUSSIAN_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_GAUSSIAN_VALID_STATE_SAMPLER_
39 
40 #include "ompl/base/ValidStateSampler.h"
41 #include "ompl/base/StateSampler.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
49  {
50  public:
53 
54  ~GaussianValidStateSampler() override = default;
55 
56  bool sample(State *state) override;
57  bool sampleNear(State *state, const State *near, double distance) override;
58 
60  double getStdDev() const
61  {
62  return stddev_;
63  }
64 
66  void setStdDev(double stddev)
67  {
68  stddev_ = stddev;
69  }
70 
71  protected:
74 
76  double stddev_;
77  };
78  }
79 }
80 
81 #endif
The base class for space information. This contains all the information about the space planning is d...
double getStdDev() const
Get the standard deviation used when sampling.
Definition of an abstract state.
Definition: State.h:50
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
bool sample(State *state) override
Sample a state. Return false in case of failure.
void setStdDev(double stddev)
Set the standard deviation to use when sampling.
Generate valid samples using the Gaussian sampling strategy.
StateSamplerPtr sampler_
The sampler to build upon.
A shared pointer wrapper for ompl::base::StateSampler.
double stddev_
The standard deviation to use in the sampling process.
Abstract definition of a state sampler.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
GaussianValidStateSampler(const SpaceInformation *si)
Constructor.