Public Member Functions | Protected Attributes | List of all members
ompl::base::StateSampler Class Referenceabstract

Abstract definition of a state space sampler. More...

#include <ompl/base/StateSampler.h>

Inheritance diagram for ompl::base::StateSampler:
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Public Member Functions

 StateSampler (const StateSampler &)=delete
 
StateSampler & operator= (const StateSampler &)=delete
 
 StateSampler (const StateSpace *space)
 Constructor.
 
virtual void sampleUniform (State *state)=0
 Sample a state.
 
virtual void sampleUniformNear (State *state, const State *near, double distance)=0
 Sample a state near another, within a neighborhood controlled by a distance parameter. More...
 
virtual void sampleGaussian (State *state, const State *mean, double stdDev)=0
 Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev). More...
 

Protected Attributes

const StateSpace * space_
 The state space this sampler samples.
 
RNG rng_
 An instance of a random number generator.
 

Detailed Description

Abstract definition of a state space sampler.

Definition at line 128 of file StateSampler.h.

Member Function Documentation

◆ sampleGaussian()

virtual void ompl::base::StateSampler::sampleGaussian ( State *  state,
const State *  mean,
double  stdDev 
)
pure virtual

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.

Implemented in ompl::base::InformedStateSampler, ompl::base::SE2DeterministicStateSampler, ompl::base::SubspaceStateSampler, ompl::base::RealVectorDeterministicStateSampler, ompl::base::CompoundStateSampler, ompl::base::SO2DeterministicStateSampler, ompl::base::ProjectedStateSampler, ompl::base::CForestStateSampler, ompl::base::SO3StateSampler, ompl::base::WrapperStateSampler, ompl::base::RealVectorStateSampler, ompl::base::SphereStateSampler, ompl::base::KleinBottleStateSampler, ompl::base::TorusStateSampler, ompl::base::PrecomputedStateSampler, ompl::base::DiscreteStateSampler, ompl::base::SO2StateSampler, ompl::base::TimeStateSampler, ompl::base::AtlasStateSampler, and ompl::base::DeterministicStateSampler.

◆ sampleUniformNear()

virtual void ompl::base::StateSampler::sampleUniformNear ( State *  state,
const State *  near,
double  distance 
)
pure virtual

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.

Implemented in ompl::base::InformedStateSampler, ompl::base::SE2DeterministicStateSampler, ompl::base::SubspaceStateSampler, ompl::base::RealVectorDeterministicStateSampler, ompl::base::CompoundStateSampler, ompl::base::SO2DeterministicStateSampler, ompl::base::CForestStateSampler, ompl::base::ProjectedStateSampler, ompl::base::WrapperStateSampler, ompl::base::SphereStateSampler, ompl::base::RealVectorStateSampler, ompl::base::SO3StateSampler, ompl::base::KleinBottleStateSampler, ompl::base::TorusStateSampler, ompl::base::PrecomputedStateSampler, ompl::base::DiscreteStateSampler, ompl::base::SO2StateSampler, ompl::base::TimeStateSampler, ompl::base::AtlasStateSampler, and ompl::base::DeterministicStateSampler.

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