PrecomputedStateSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/StateSampler.h"
38 #include <vector>
39 
40 namespace ompl
41 {
42  namespace base
43  {
45  class PrecomputedStateSampler : public StateSampler
46  {
47  public:
50  PrecomputedStateSampler(const StateSpace *space, const std::vector<const State *> &states);
51 
54  PrecomputedStateSampler(const StateSpace *space, const std::vector<const State *> &states,
55  std::size_t minStateIndex, std::size_t maxStateIndex);
56 
57  void sampleUniform(State *state) override;
58  void sampleUniformNear(State *state, const State *near, double distance) override;
59  void sampleGaussian(State *state, const State *mean, double stdDev) override;
60 
61  protected:
63  const std::vector<const State *> &states_;
64 
66  std::size_t minStateIndex_;
67 
69  std::size_t maxStateIndex_;
70  };
71  }
72 }
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
std::size_t maxStateIndex_
The maximum index to stop sampling at.
void sampleUniform(State *state) override
Sample a state.
std::size_t minStateIndex_
The minimum index to start sampling at.
const std::vector< const State * > & states_
The states to sample from.
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
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 (...
Main namespace. Contains everything in this library.