StateSampler.cpp
40 void ompl::base::CompoundStateSampler::addSampler(const StateSamplerPtr &sampler, double weightImportance)
54 void ompl::base::CompoundStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
66 void ompl::base::CompoundStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
74 ompl::base::SubspaceStateSampler::SubspaceStateSampler(const StateSpace *space, const StateSpace *subspace, double weight) : StateSampler(space), subspace_(subspace), weight_(weight)
81 OMPL_WARN("Subspace state sampler did not find any common subspaces. Sampling will have no effect.");
96 void ompl::base::SubspaceStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
103 void ompl::base::SubspaceStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
virtual StateSamplerPtr allocStateSampler() const
Allocate an instance of the state sampler for this space. This sampler will be allocated with the sam...
Definition: StateSpace.cpp:785
std::vector< std::string > subspaces_
The names of common subspaces between space_ and subspace_; these are the ones copied after sampling ...
Definition: StateSampler.h:172
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
Definition: StateSampler.cpp:103
A boost shared pointer wrapper for ompl::base::StateSampler.
AdvancedStateCopyOperation copyStateData(const StateSpacePtr &destS, State *dest, const StateSpacePtr &sourceS, const State *source)
Copy data from source (state from space sourceS) to dest (state from space destS) on a component by c...
Definition: StateSpace.cpp:1219
std::vector< StateSamplerPtr > samplers_
The samplers that are composed.
Definition: StateSampler.h:133
SubspaceStateSampler(const StateSpace *space, const StateSpace *subspace, double weight)
Construct a sampler for space but only sample components common to subspace. Use weight as a multipli...
Definition: StateSampler.cpp:74
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 compoun...
Definition: StateSampler.cpp:40
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
Definition: StateSampler.cpp:96
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Call sampleGaussian for each of the subspace states with stdDev scaled by the corresponding subspace ...
Definition: StateSampler.cpp:66
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Call sampleUniformNear for each of the subspace states with distance scaled by the corresponding subs...
Definition: StateSampler.cpp:54
void getCommonSubspaces(const StateSpacePtr &other, std::vector< std::string > &subspaces) const
Get the set of subspaces that this space and other have in common. The computed list of subspaces doe...
Definition: StateSpace.cpp:481
virtual State * allocState() const =0
Allocate a state that can store a point in the described space.
std::vector< double > weightImportance_
The weight of each sampler (used when sampling near a state)
Definition: StateSampler.h:136