40 namespace ompl
State space sampler for discrete states.
The minimum index to start sampling at.
void sampleUniform(State *state) override
Sample a state.
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.
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 (...
const std::vector< const State * > & states_
The states to sample from.
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...