Definition of a compound state sampler. This is useful to construct samplers for compound states. More...
#include <StateSampler.h>
Public Member Functions | |
| 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. | |
| CompoundStateSampler (const StateSpace *space) | |
| Constructor. | |
| 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). | |
| virtual void | sampleUniform (State *state) |
| Sample a state. | |
| virtual void | sampleUniformNear (State *state, const State *near, const double distance) |
| Sample a state near another, within specified distance. | |
| virtual | ~CompoundStateSampler (void) |
| Destructor. This frees the added samplers as well. | |
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). | |
Private Attributes | |
| unsigned int | samplerCount_ |
| The number of samplers that are composed. | |
Definition of a compound state sampler. This is useful to construct samplers for compound states.
Definition at line 92 of file StateSampler.h.
| ompl::base::CompoundStateSampler::CompoundStateSampler | ( | const StateSpace * | space | ) | [inline] |
Constructor.
Definition at line 97 of file StateSampler.h.
| virtual ompl::base::CompoundStateSampler::~CompoundStateSampler | ( | void | ) | [inline, virtual] |
Destructor. This frees the added samplers as well.
Definition at line 102 of file StateSampler.h.
| virtual void ompl::base::CompoundStateSampler::addSampler | ( | const StateSamplerPtr & | sampler, | |
| double | weightImportance | |||
| ) | [virtual] |
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.
| virtual void ompl::base::CompoundStateSampler::sampleGaussian | ( | State * | state, | |
| const State * | mean, | |||
| const double | stdDev | |||
| ) | [virtual] |
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
Implements ompl::base::StateSampler.
| virtual void ompl::base::CompoundStateSampler::sampleUniform | ( | State * | state | ) | [virtual] |
Sample a state.
Implements ompl::base::StateSampler.
| virtual void ompl::base::CompoundStateSampler::sampleUniformNear | ( | State * | state, | |
| const State * | near, | |||
| const double | distance | |||
| ) | [virtual] |
Sample a state near another, within specified distance.
Implements ompl::base::StateSampler.
unsigned int ompl::base::CompoundStateSampler::samplerCount_ [private] |
The number of samplers that are composed.
Definition at line 131 of file StateSampler.h.
std::vector<StateSamplerPtr> ompl::base::CompoundStateSampler::samplers_ [protected] |
The samplers that are composed.
Definition at line 123 of file StateSampler.h.
std::vector<double> ompl::base::CompoundStateSampler::weightImportance_ [protected] |
The weight of each sampler (used when sampling near a state).
Definition at line 126 of file StateSampler.h.
