ompl::base::StateSampler Class Referenceabstract

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

#include <ompl/base/StateSampler.h>

Inheritance diagram for ompl::base::StateSampler:

## Public Member Functions

StateSampler (const StateSampler &)=delete

StateSampleroperator= (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 StateSpacespace_
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 64 of file StateSampler.h.

## ◆ 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.

## ◆ 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.

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