PrecomputedStateSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/StateSampler.h"
38 #include <vector>
39 
40 namespace ompl
41 {
42  namespace base
43  {
46  {
47  public:
50  PrecomputedStateSampler(const StateSpace *space, const std::vector<const State *> &states);
51 
54  PrecomputedStateSampler(const StateSpace *space, const std::vector<const State *> &states,
55  std::size_t minIndex, std::size_t maxIndex);
56 
57  void sampleUniform(State *state) override;
58  void sampleUniformNear(State *state, const State *near, const double distance) override;
59  void sampleGaussian(State *state, const State *mean, const double stdDev) override;
60 
61  protected:
63  const std::vector<const State *> &states_;
64 
66  std::size_t minStateIndex_;
67 
69  std::size_t maxStateIndex_;
70  };
71  }
72 }
void sampleUniformNear(State *state, const State *near, const double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
void sampleGaussian(State *state, const State *mean, const double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...
State space sampler for discrete states.
std::size_t minStateIndex_
The minimum index to start sampling at.
void sampleUniform(State *state) override
Sample a state.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
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.
Abstract definition of a state space sampler.
Definition: StateSampler.h:64