ompl::base::CForestStateSampler Class Reference

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

#include <ompl/geometric/planners/cforest/CForestStateSampler.h>

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, const 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, const 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 StateSpacegetStateSpace () 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
 
StateSampleroperator= (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 StateSpacespace_
 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 51 of file CForestStateSampler.h.


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