Construct a sampler that samples only within a subspace of the space. More...
#include <ompl/base/StateSampler.h>
Public Member Functions  
SubspaceStateSampler (const StateSpace *space, const StateSpace *subspace, double weight)  
Construct a sampler for space but only sample components common to subspace. Use weight as a multiplicative factor for distance and stdDev in the sampleUniformNear() and sampleGaussian() functions.  
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 StateSpace *  subspace_ 
The subspace to sample.  
StateSamplerPtr  subspaceSampler_ 
The sampler for the subspace.  
double  weight_ 
The weigth factor to multiply distance and stdDev when sampling in the vicinity of a state.  
std::vector< std::string >  subspaces_ 
The names of common subspaces between space_ and subspace_; these are the ones copied after sampling a state.  
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
Construct a sampler that samples only within a subspace of the space.
Definition at line 153 of file StateSampler.h.
Member Function Documentation
◆ sampleGaussian()

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 104 of file StateSampler.cpp.
◆ sampleUniformNear()

overridevirtual 
Sample a state near another, within a neighborhood controlled by a distance parameter.
Typically, StateSamplerderived 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 97 of file StateSampler.cpp.
The documentation for this class was generated from the following files:
 ompl/base/StateSampler.h
 ompl/base/src/StateSampler.cpp