State space sampler for discrete states. More...
#include <ompl/base/PrecomputedStateSampler.h>
Public Member Functions  
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 (states)  
PrecomputedStateSampler (const StateSpace *space, const std::vector< const State * > &states, std::size_t minStateIndex, std::size_t maxStateIndex)  
Constructor. Takes the state space to be sampled (space), the set of states to draw samples from (states) and a range to sample from: [minIndex, maxIndex].  
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 std::vector< const State * > &  states_ 
The states to sample from.  
std::size_t  minStateIndex_ 
The minimum index to start sampling at.  
std::size_t  maxStateIndex_ 
The maximum index to stop sampling at.  
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
State space sampler for discrete states.
Definition at line 45 of file PrecomputedStateSampler.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 79 of file PrecomputedStateSampler.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 69 of file PrecomputedStateSampler.cpp.
The documentation for this class was generated from the following files:
 ompl/base/PrecomputedStateSampler.h
 ompl/base/src/PrecomputedStateSampler.cpp