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Public Member Functions | Protected Attributes | List of all members
ompl::base::CompoundStateSampler Class Reference

Definition of a compound state sampler. This is useful to construct samplers for compound states. More...

#include <ompl/base/StateSampler.h>

Inheritance diagram for ompl::base::CompoundStateSampler:
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Public Member Functions

 CompoundStateSampler (const StateSpace *space)
 Constructor.
 ~CompoundStateSampler () override=default
 Destructor. This frees the added samplers as well.
virtual void addSampler (const StateSamplerPtr &sampler, double weightImportance)
 Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compound state. When sampling near a state, the compound sampler calls in to added samplers. The distance passed to the called samplers is adjusted according to the specified importance.
void sampleUniform (State *state) override
 Sample a state.
void sampleUniformNear (State *state, const State *near, double distance) override
 Call sampleUniformNear for each of the subspace states with distance scaled by the corresponding subspace weight.
void sampleGaussian (State *state, const State *mean, double stdDev) override
 Call sampleGaussian for each of the subspace states with stdDev scaled by the corresponding subspace weight.
Public Member Functions inherited from ompl::base::StateSampler
 StateSampler (const StateSampler &)=delete
StateSampler & operator= (const StateSampler &)=delete
 StateSampler (const StateSpace *space)
 Constructor.

Protected Attributes

std::vector< StateSamplerPtr > samplers_
 The samplers that are composed.
std::vector< double > weightImportance_
 The weight of each sampler (used when sampling near a state).
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

Definition of a compound state sampler. This is useful to construct samplers for compound states.

Definition at line 111 of file StateSampler.h.

Constructor & Destructor Documentation

◆ CompoundStateSampler()

ompl::base::CompoundStateSampler::CompoundStateSampler ( const StateSpace * space)
inline

Constructor.

Definition at line 115 of file StateSampler.h.

Member Function Documentation

◆ addSampler()

void ompl::base::CompoundStateSampler::addSampler ( const StateSamplerPtr & sampler,
double weightImportance )
virtual

Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compound state. When sampling near a state, the compound sampler calls in to added samplers. The distance passed to the called samplers is adjusted according to the specified importance.

Definition at line 40 of file StateSampler.cpp.

◆ sampleGaussian()

void ompl::base::CompoundStateSampler::sampleGaussian ( State * state,
const State * mean,
double stdDev )
overridevirtual

Call sampleGaussian for each of the subspace states with stdDev scaled by the corresponding subspace weight.

Implements ompl::base::StateSampler.

Definition at line 65 of file StateSampler.cpp.

◆ sampleUniform()

void ompl::base::CompoundStateSampler::sampleUniform ( State * state)
overridevirtual

Sample a state.

Implements ompl::base::StateSampler.

Definition at line 47 of file StateSampler.cpp.

◆ sampleUniformNear()

void ompl::base::CompoundStateSampler::sampleUniformNear ( State * state,
const State * near,
double distance )
overridevirtual

Call sampleUniformNear for each of the subspace states with distance scaled by the corresponding subspace weight.

Implements ompl::base::StateSampler.

Definition at line 54 of file StateSampler.cpp.

Member Data Documentation

◆ samplers_

std::vector<StateSamplerPtr> ompl::base::CompoundStateSampler::samplers_
protected

The samplers that are composed.

Definition at line 142 of file StateSampler.h.

◆ weightImportance_

std::vector<double> ompl::base::CompoundStateSampler::weightImportance_
protected

The weight of each sampler (used when sampling near a state).

Definition at line 145 of file StateSampler.h.

The documentation for this class was generated from the following files: