ompl::base::InformedStateSampler Class Reference

A wrapper class that allows an InformedSampler to be used as a StateSampler. More...

`#include <ompl/base/samplers/InformedStateSampler.h>`

Inheritance diagram for ompl::base::InformedStateSampler:

## Public Types | |

using | GetCurrentCostFunc = std::function< Cost()> |

The definition of a function pointer for querying the current solution cost. | |

## Public Member Functions | |

InformedStateSampler (const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls, const GetCurrentCostFunc &costFunc) | |

Construct a sampler that only generates states with a heuristic solution estimate that is less than the cost of the current solution using the default informed sampler for the current optimization objective. Requires a function pointer to a method to query the cost of the current solution. | |

InformedStateSampler (const ProblemDefinitionPtr &probDefn, const GetCurrentCostFunc &costFunc, const InformedSamplerPtr &infSampler) | |

Construct a sampler that only generates states with a heuristic solution estimate that is less than the cost of the current solution using the provided informed sampler. Requires a function pointer to a method to query the cost of the current solution. | |

void | sampleUniform (State *statePtr) override |

Sample uniformly in the subset of the state space whose heuristic solution estimates are less than the current best cost (as defined by the pointer passed at construction). By default just calls sampleUniform(State*, Cost) with cost given by the member variable. | |

void | sampleUniformNear (State *statePtr, const State *near, double distance) override |

By default sampleUniformNear throws. This can be overloaded by a specific informed sampler if desired. | |

void | sampleGaussian (State *statePtr, const State *mean, double stdDev) override |

By default sampleGaussian throws. This can be overloaded by a specific informed sampler if desired. | |

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

A wrapper class that allows an InformedSampler to be used as a StateSampler.

Definition at line 187 of file InformedStateSampler.h.

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

- ompl/base/samplers/InformedStateSampler.h
- ompl/base/samplers/src/InformedStateSampler.cpp