Public Member Functions | List of all members
ompl::base::DiscreteStateSampler Class Reference

State space sampler for discrete states. More...

#include <ompl/base/spaces/DiscreteStateSpace.h>

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

 DiscreteStateSampler (const StateSpace *space)
 Constructor.
 
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.
 

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

State space sampler for discrete states.

Definition at line 111 of file DiscreteStateSpace.h.

Member Function Documentation

◆ sampleGaussian()

void ompl::base::DiscreteStateSampler::sampleGaussian ( State *  state,
const State *  mean,
double  stdDev 
)
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 56 of file DiscreteStateSpace.cpp.

◆ sampleUniformNear()

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

Sample a state near another, within a neighborhood controlled by a distance parameter.

Typically, StateSampler-derived 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 48 of file DiscreteStateSpace.cpp.

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