State space sampler for discrete states. More...
#include <ompl/base/PrecomputedStateSampler.h>
Public Member Functions | |
| 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 (states) | |
| PrecomputedStateSampler (const StateSpace *space, const std::vector< const State * > &states, std::size_t minStateIndex, std::size_t maxStateIndex) | |
| Constructor. Takes the state space to be sampled (space), the set of states to draw samples from (states) and a range to sample from: [minIndex, maxIndex]. | |
| void | sampleUniform (State *state) override |
| Sample a state. | |
| void | sampleUniformNear (State *state, const State *near, double distance) override |
| Sample a state near another, within a neighborhood controlled by a distance parameter. More... | |
| void | sampleGaussian (State *state, const State *mean, double stdDev) override |
| Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev). More... | |
 Public Member Functions inherited from ompl::base::StateSampler | |
| StateSampler (const StateSampler &)=delete | |
| StateSampler & | operator= (const StateSampler &)=delete |
| StateSampler (const StateSpace *space) | |
| Constructor. | |
Protected Attributes | |
| const std::vector< const State * > & | states_ |
| The states to sample from. | |
| std::size_t | minStateIndex_ |
| The minimum index to start sampling at. | |
| std::size_t | maxStateIndex_ |
| The maximum index to stop sampling at. | |
| 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
State space sampler for discrete states.
Definition at line 109 of file PrecomputedStateSampler.h.
Member Function Documentation
◆ sampleGaussian()
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overridevirtual |
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
As with sampleUniform, the implementation of sampleGaussian is specific to the derived class and few assumptions can be made about the distance between state and mean.
Implements ompl::base::StateSampler.
Definition at line 79 of file PrecomputedStateSampler.cpp.
◆ sampleUniformNear()
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overridevirtual |
Sample a state near another, within a neighborhood controlled by a distance parameter.
Typically, StateSampler-derived classes will return in state a state that is uniformly distributed within a ball with radius distance defined by the distance function from the corresponding state space. However, this is not guaranteed. For example, the default state sampler for the RealVectorStateSpace returns samples uniformly distributed using L_inf distance, while the default distance function is L_2 distance.
Implements ompl::base::StateSampler.
Definition at line 69 of file PrecomputedStateSampler.cpp.
The documentation for this class was generated from the following files:
- ompl/base/PrecomputedStateSampler.h
- ompl/base/src/PrecomputedStateSampler.cpp