Deterministic state sampler for the R^{n} state space. More...
#include <ompl/base/samplers/DeterministicStateSampler.h>
Public Member Functions  
RealVectorDeterministicStateSampler (const StateSpace *space, DeterministicSamplerType type=DeterministicSamplerType::HALTON)  
Constructor, which creates the sequence internally based on the specified sequence type. Uses the default constructor for the sequence.  
RealVectorDeterministicStateSampler (const StateSpace *space, std::shared_ptr< DeterministicSequence > sequence_ptr, bool stretch=true)  
Constructor that takes a pointer to a DeterministicSequence and uses that object instead of its own. This can be used to apply non default options to the deterministic sequence.  
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::DeterministicStateSampler  
DeterministicStateSampler (const StateSpace *space, DeterministicSamplerType type=DeterministicSamplerType::HALTON)  
Constructor, which creates the sequence internally based on the specified sequence type. Uses the default constructor for the sequence.  
DeterministicStateSampler (const StateSpace *space, std::shared_ptr< DeterministicSequence > sequence_ptr)  
Constructor that takes a pointer to a DeterministicSequence and uses that object instead of its own. This can be used to apply non default options to the deterministic sequence.  
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  
Public Types inherited from ompl::base::DeterministicStateSampler  
enum  DeterministicSamplerType { HALTON } 
Protected Attributes inherited from ompl::base::DeterministicStateSampler  
std::shared_ptr< DeterministicSequence >  sequence_ptr_ 
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
Deterministic state sampler for the R^{n} state space.
Definition at line 190 of file DeterministicStateSampler.h.
Member Function Documentation
◆ sampleGaussian()

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
.
Reimplemented from ompl::base::DeterministicStateSampler.
Definition at line 179 of file DeterministicStateSampler.cpp.
◆ sampleUniformNear()

overridevirtual 
Sample a state near another, within a neighborhood controlled by a distance parameter.
Typically, StateSamplerderived 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.
Reimplemented from ompl::base::DeterministicStateSampler.
Definition at line 174 of file DeterministicStateSampler.cpp.
The documentation for this class was generated from the following files:
 ompl/base/samplers/DeterministicStateSampler.h
 ompl/base/samplers/src/DeterministicStateSampler.cpp