ompl::base::CompoundStateSampler Class Reference

Definition of a compound state sampler. This is useful to construct samplers for compound states. More...

#include <ompl/base/StateSampler.h>

Inheritance diagram for ompl::base::CompoundStateSampler:

Public Member Functions

 CompoundStateSampler (const StateSpace *space)
 Constructor.
 
 ~CompoundStateSampler () override=default
 Destructor. This frees the added samplers as well.
 
virtual void addSampler (const StateSamplerPtr &sampler, double weightImportance)
 Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compound state. When sampling near a state, the compound sampler calls in to added samplers. The distance passed to the called samplers is adjusted according to the specified importance.
 
void sampleUniform (State *state) override
 Sample a state.
 
void sampleUniformNear (State *state, const State *near, const double distance) override
 Call sampleUniformNear for each of the subspace states with distance scaled by the corresponding subspace weight.
 
void sampleGaussian (State *state, const State *mean, const double stdDev) override
 Call sampleGaussian for each of the subspace states with stdDev scaled by the corresponding subspace weight.
 
- Public Member Functions inherited from ompl::base::StateSampler
 StateSampler (const StateSampler &)=delete
 
StateSampleroperator= (const StateSampler &)=delete
 
 StateSampler (const StateSpace *space)
 Constructor.
 

Protected Attributes

std::vector< StateSamplerPtrsamplers_
 The samplers that are composed.
 
std::vector< double > weightImportance_
 The weight of each sampler (used when sampling near a state)
 
- 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

Definition of a compound state sampler. This is useful to construct samplers for compound states.

Definition at line 111 of file StateSampler.h.


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