TorusStateSpace.cpp
double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Definition: TorusStateSpace.cpp:114
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
Definition: TorusStateSpace.cpp:89
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:134
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: ConstrainedSpaceInformation.h:86
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
Definition: TorusStateSpace.cpp:80
virtual void enforceBounds(State *state) const =0
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition: TorusStateSpace.cpp:109
Definition: TorusStateSpace.h:130
double gaussian(double mean, double stddev)
Generate a random real using a normal distribution with given mean and variance.
Definition: RandomNumbers.h:163
State * allocState() const override
Allocate a state that can store a point in the described space.
Definition: TorusStateSpace.cpp:123
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces.
Definition: StateSpace.cpp:1147
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:641
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:137
A shared pointer wrapper for ompl::base::StateSampler.
std::vector< StateSpacePtr > components_
The state spaces that make up the compound state space.
Definition: StateSpace.h:799