Deterministic state sampler for the Rn 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 Rn state space.
Definition at line 190 of file DeterministicStateSampler.h.
Member Function Documentation
◆ sampleGaussian()
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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()
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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.
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