37 #include "ompl/base/StateSampler.h"
38 #include "ompl/base/StateSpace.h"
50 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
51 samplers_[i]->sampleUniform(comps[i]);
58 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
59 if (weightImportance_[i] > std::numeric_limits<double>::epsilon())
60 samplers_[i]->sampleUniformNear(comps[i], nearComps[i], distance * weightImportance_[i]);
62 samplers_[i]->sampleUniform(comps[i]);
70 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
71 samplers_[i]->sampleGaussian(comps[i], meanComps[i], stdDev * weightImportance_[i]);
81 logWarn(
"Subspace state sampler did not find any common subspaces. Sampling will have no effect.");
84 ompl::base::SubspaceStateSampler::~SubspaceStateSampler(
void)
86 subspace_->freeState(work_);
87 subspace_->freeState(work2_);
92 subspaceSampler_->sampleUniform(work_);
99 subspaceSampler_->sampleUniformNear(work_, work2_, distance * weight_);
106 subspaceSampler_->sampleGaussian(work_, work2_, stdDev * weight_);