GaussianValidStateSampler.cpp
42 ValidStateSampler(si), sampler_(si->allocStateSampler()), stddev_(si->getMaximumExtent() * magic::STD_DEV_AS_SPACE_EXTENT_FRACTION)
73 bool ompl::base::GaussianValidStateSampler::sampleNear(State *state, const State *near, const double distance)
virtual bool sample(State *state)
Sample a state. Return false in case of failure.
Definition: GaussianValidStateSampler.cpp:50
const SpaceInformation * si_
The state space this sampler samples.
Definition: ValidStateSampler.h:122
bool isValid(const State *state) const
Check if a given state is valid or not.
Definition: SpaceInformation.h:98
double stddev_
The standard deviation to use in the sampling process.
Definition: GaussianValidStateSampler.h:81
void copyState(State *destination, const State *source) const
Copy a state to another.
Definition: SpaceInformation.h:244
double getStdDev() const
Get the standard deviation used when sampling.
Definition: GaussianValidStateSampler.h:64
Abstract definition of a state sampler.
Definition: ValidStateSampler.h:65
virtual bool sampleNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance. Return false, in case of failure.
Definition: GaussianValidStateSampler.cpp:73
The base class for space information. This contains all the information about the space planning is d...
Definition: SpaceInformation.h:86
unsigned int attempts_
Number of attempts to find a valid sample.
Definition: ValidStateSampler.h:125
GaussianValidStateSampler(const SpaceInformation *si)
Constructor.
Definition: GaussianValidStateSampler.cpp:41
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=typename SpecificParam< T >::GetterFn())
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:240
void setStdDev(double stddev)
Set the standard deviation to use when sampling.
Definition: GaussianValidStateSampler.h:70
ParamSet params_
The parameters for this instance of the valid state sampler.
Definition: ValidStateSampler.h:131