Definition of a compound state sampler. This is useful to construct samplers for compound states. More...

Inheritance diagram for ompl::base::CompoundStateSampler:

Public Member Functions
	CompoundStateSampler (const StateSpace *space)
	Constructor.

	~CompoundStateSampler () override=default
	Destructor. This frees the added samplers as well.

virtual void	addSampler (const StateSamplerPtr &sampler, double weightImportance)
	Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compound state. When sampling near a state, the compound sampler calls in to added samplers. The distance passed to the called samplers is adjusted according to the specified importance.

void	sampleUniform (State *state) override
	Sample a state.

void	sampleUniformNear (State state, const State near, double distance) override
	Call sampleUniformNear for each of the subspace states with distance scaled by the corresponding subspace weight.

void	sampleGaussian (State state, const State mean, double stdDev) override
	Call sampleGaussian for each of the subspace states with stdDev scaled by the corresponding subspace weight.

Public Member Functions inherited from ompl::base::StateSampler
	StateSampler (const StateSampler &)=delete

StateSampler &	operator= (const StateSampler &)=delete

	StateSampler (const StateSpace *space)
	Constructor.

Protected Attributes
std::vector< StateSamplerPtr >	samplers_
	The samplers that are composed.

std::vector< double >	weightImportance_
	The weight of each sampler (used when sampling near a state)

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

Definition of a compound state sampler. This is useful to construct samplers for compound states.

Definition at line 175 of file StateSampler.h.

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

Public Member Functions