ompl::base::AtlasStateSampler Class Reference
StateSampler for use on an atlas. More...
#include <ompl/base/spaces/constraint/AtlasStateSpace.h>
Inheritance diagram for ompl::base::AtlasStateSampler:
Public Member Functions | |
AtlasStateSampler (const AtlasStateSpace *space) | |
AtlasStateSampler. More... | |
void | sampleUniform (State *state) override |
Sample a state uniformly from the charted regions of the manifold. Return sample in state. | |
void | sampleUniformNear (State *state, const State *near, double distance) override |
Sample a state uniformly from the ball with center near and radius distance. Return sample in state. More... | |
void | sampleGaussian (State *state, const State *mean, double stdDev) override |
Sample a state uniformly from a normal distribution with given mean and stdDev. Return sample in state. | |
Public Member Functions inherited from ompl::base::StateSampler | |
StateSampler (const StateSampler &)=delete | |
StateSampler & | operator= (const StateSampler &)=delete |
StateSampler (const StateSpace *space) | |
Constructor. | |
Additional Inherited Members | |
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
StateSampler for use on an atlas.
Definition at line 108 of file AtlasStateSpace.h.
Constructor & Destructor Documentation
◆ AtlasStateSampler()
ompl::base::AtlasStateSampler::AtlasStateSampler | ( | const AtlasStateSpace * | space | ) |
Member Function Documentation
◆ sampleUniformNear()
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overridevirtual |
Sample a state uniformly from the ball with center near and radius distance. Return sample in state.
- Note
- rho_s_ is a good choice for distance.
Implements ompl::base::StateSampler.
Definition at line 99 of file AtlasStateSpace.cpp.
The documentation for this class was generated from the following files:
- ompl/base/spaces/constraint/AtlasStateSpace.h
- ompl/base/spaces/constraint/src/AtlasStateSpace.cpp