Construct a sampler that samples only within a subspace of the space. More...
|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, const double distance) override|
|Sample a state near another, within a neighborhood controlled by a distance parameter. More...|
|void||sampleGaussian (State *state, const State *mean, const 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)|
|const StateSpace *||subspace_|
|The subspace to sample. |
|The sampler for the subspace. |
|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. |
|An instance of a random number generator. |
Construct a sampler that samples only within a subspace of the space.
Member Function Documentation
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
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 files: