Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state sampler. More...

Inheritance diagram for ompl::base::CForestStateSampler:

Public Member Functions
	CForestStateSampler (const StateSpace *space, StateSamplerPtr sampler)
	Constructor.

	~CForestStateSampler () override
	Destructor.

void	sampleUniform (State *state) override
	It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampleUniform() method of the specified sampler.

void	sampleUniformNear (State state, const State near, double distance) override
	It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampleUniformNear() method of the specified sampler.

void	sampleGaussian (State state, const State mean, double stdDev) override
	It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampleGaussian() method of the specified sampler.

const StateSpace *	getStateSpace () const

void	setStatesToSample (const std::vector< const State * > &states)
	Fills the vector StatesToSample_ of states to be sampled in the next calls to sampleUniform(), sampleUniformNear() or sampleGaussian().

void	clear ()

Public Member Functions inherited from ompl::base::StateSampler
	StateSampler (const StateSampler &)=delete

StateSampler &	operator= (const StateSampler &)=delete

	StateSampler (const StateSpace *space)
	Constructor.

Protected Member Functions
void	getNextSample (State *state)
	Extracts the next sample when statesToSample_ is not empty.

Protected Attributes
std::vector< State * >	statesToSample_
	States to be sampled.

StateSamplerPtr	sampler_
	Underlying, user-specified state sampler.

std::mutex	statesLock_
	Lock to control the access to the statesToSample_ vector.

Protected Attributes inherited from ompl::base::StateSampler
const StateSpace *	space_
	The state space this sampler samples.

RNG	rng_
	An instance of a random number generator.

Detailed Description

Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state sampler.

Definition at line 115 of file CForestStateSampler.h.

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

Public Member Functions