ompl::base::SE2DeterministicStateSampler Class Reference

Deterministic state sampler for the Rn state space. More...

#include <ompl/base/samplers/DeterministicStateSampler.h>

Inheritance diagram for ompl::base::SE2DeterministicStateSampler:

## Public Member Functions

SE2DeterministicStateSampler (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.

SE2DeterministicStateSampler (const StateSpace *space, std::shared_ptr< DeterministicSequence > sequence_ptr, bool stretch_rv=true, bool stretch_so2=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

StateSampleroperator= (const StateSampler &)=delete

StateSampler (const StateSpace *space)
Constructor.

Public Types inherited from ompl::base::DeterministicStateSampler
enum  DeterministicSamplerType { HALTON }

Protected Attributes inherited from ompl::base::DeterministicStateSampler
std::shared_ptr< DeterministicSequencesequence_ptr_

Protected Attributes inherited from ompl::base::StateSampler
const StateSpacespace_
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 155 of file DeterministicStateSampler.h.

## ◆ sampleGaussian()

 void ompl::base::SE2DeterministicStateSampler::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.

Reimplemented from ompl::base::DeterministicStateSampler.

Definition at line 147 of file DeterministicStateSampler.cpp.

## ◆ sampleUniformNear()

 void ompl::base::SE2DeterministicStateSampler::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.

Reimplemented from ompl::base::DeterministicStateSampler.

Definition at line 142 of file DeterministicStateSampler.cpp.

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