GaussianValidStateSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_SAMPLERS_GAUSSIAN_VALID_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_GAUSSIAN_VALID_STATE_SAMPLER_
39 
40 #include "ompl/base/ValidStateSampler.h"
41 #include "ompl/base/StateSampler.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
48  class GaussianValidStateSampler : public ValidStateSampler
49  {
50  public:
52  GaussianValidStateSampler(const SpaceInformation *si);
53 
54  ~GaussianValidStateSampler() override = default;
55 
56  bool sample(State *state) override;
57  bool sampleNear(State *state, const State *near, double distance) override;
58 
60  double getStdDev() const
61  {
62  return stddev_;
63  }
64 
66  void setStdDev(double stddev)
67  {
68  stddev_ = stddev;
69  }
70 
71  protected:
74 
76  double stddev_;
77  };
78  }
79 }
80 
81 #endif
double getStdDev() const
Get the standard deviation used when sampling.
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
bool sample(State *state) override
Sample a state. Return false in case of failure.
void setStdDev(double stddev)
Set the standard deviation to use when sampling.
StateSamplerPtr sampler_
The sampler to build upon.
A shared pointer wrapper for ompl::base::StateSampler.
double stddev_
The standard deviation to use in the sampling process.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
GaussianValidStateSampler(const SpaceInformation *si)
Constructor.