ompl::base::AtlasStateSampler Class Reference

StateSampler for use on an atlas. More...

#include <ompl/base/spaces/constraint/AtlasStateSpace.h>

Inheritance diagram for ompl::base::AtlasStateSampler:

Public Member Functions

 AtlasStateSampler (const AtlasStateSpace *space)
 AtlasStateSampler. More...
 
void sampleUniform (State *state) override
 Sample a state uniformly from the charted regions of the manifold. Return sample in state.
 
void sampleUniformNear (State *state, const State *near, double distance) override
 Sample a state uniformly from the ball with center near and radius distance. Return sample in state. More...
 
void sampleGaussian (State *state, const State *mean, double stdDev) override
 Sample a state uniformly from a normal distribution with given mean and stdDev. Return sample in state.
 
- Public Member Functions inherited from ompl::base::StateSampler
 StateSampler (const StateSampler &)=delete
 
StateSampleroperator= (const StateSampler &)=delete
 
 StateSampler (const StateSpace *space)
 Constructor.
 

Additional Inherited Members

- Protected Attributes inherited from ompl::base::StateSampler
const StateSpacespace_
 The state space this sampler samples.
 
RNG rng_
 An instance of a random number generator.
 

Detailed Description

StateSampler for use on an atlas.

Definition at line 77 of file AtlasStateSpace.h.

Constructor & Destructor Documentation

◆ AtlasStateSampler()

ompl::base::AtlasStateSampler::AtlasStateSampler ( const AtlasStateSpace space)

AtlasStateSampler.

Public

Definition at line 47 of file AtlasStateSpace.cpp.

Member Function Documentation

◆ sampleUniformNear()

void ompl::base::AtlasStateSampler::sampleUniformNear ( State state,
const State near,
double  distance 
)
overridevirtual

Sample a state uniformly from the ball with center near and radius distance. Return sample in state.

Note
rho_s_ is a good choice for distance.

Implements ompl::base::StateSampler.

Definition at line 99 of file AtlasStateSpace.cpp.


The documentation for this class was generated from the following files: