PrecomputedStateSampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/PrecomputedStateSampler.h"
38 #include "ompl/base/StateSpace.h"
39 #include "ompl/util/Exception.h"
40 
42  const std::vector<const State *> &states)
43  : StateSampler(space), states_(states)
44 {
45  if (states_.empty())
46  throw Exception("Empty set of states to sample from was specified");
47  minStateIndex_ = 0;
48  maxStateIndex_ = states_.size() - 1;
49 }
50 
52  const std::vector<const State *> &states,
53  std::size_t minStateIndex, std::size_t maxStateIndex)
54  : StateSampler(space), states_(states), minStateIndex_(minStateIndex), maxStateIndex_(maxStateIndex)
55 {
56  if (states_.empty())
57  throw Exception("Empty set of states to sample from was specified");
58  if (minStateIndex > maxStateIndex)
59  throw Exception("Minimum state index cannot be larger than maximum state index");
60  if (maxStateIndex >= states_.size())
61  throw Exception("Index range out of bounds");
62 }
63 
65 {
67 }
68 
69 void ompl::base::PrecomputedStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
70 {
72  double dist = space_->distance(near, states_[index]);
73  if (dist > distance)
74  space_->interpolate(near, states_[index], distance / dist, state);
75  else
76  space_->copyState(state, states_[index]);
77 }
78 
79 void ompl::base::PrecomputedStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
80 {
81  sampleUniformNear(state, mean, rng_.gaussian(0.0, stdDev));
82 }
const StateSpace * space_
The state space this sampler samples.
Definition: StateSampler.h:104
RNG rng_
An instance of a random number generator.
Definition: StateSampler.h:107
std::size_t minStateIndex_
The minimum index to start sampling at.
void sampleUniform(State *state) override
Sample a state.
virtual void interpolate(const State *from, const State *to, double t, State *state) const =0
Computes the state that lies at time t in [0, 1] on the segment that connects from state to to state...
std::size_t maxStateIndex_
The maximum index to stop sampling at.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
PrecomputedStateSampler(const StateSpace *space, const std::vector< const State *> &states)
Constructor. Takes the state space to be sampled (space) and the set of states to draw samples from (...
Definition of an abstract state.
Definition: State.h:49
const std::vector< const State * > & states_
The states to sample from.
The exception type for ompl.
Definition: Exception.h:46
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
virtual double distance(const State *state1, const State *state2) const =0
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Abstract definition of a state space sampler.
Definition: StateSampler.h:64
virtual void copyState(State *destination, const State *source) const =0
Copy a state to another. The memory of source and destination should NOT overlap. ...
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...
int uniformInt(int lower_bound, int upper_bound)
Generate a random integer within given bounds: [lower_bound, upper_bound].
Definition: RandomNumbers.h:81
double gaussian(double mean, double stddev)
Generate a random real using a normal distribution with given mean and variance.