Public Member Functions
	ConstrainedSampler (const ModelBasedPlanningContext *pc, const constraint_samplers::ConstraintSamplerPtr &cs)
	Default constructor.
double	getConstrainedSamplingRate () const
virtual void	sampleGaussian (ompl::base::State state, const ompl::base::State mean, const double stdDev)
	Sample a state using the specified Gaussian.
virtual void	sampleUniform (ompl::base::State *state)
	Sample a state (uniformly)
virtual void	sampleUniformNear (ompl::base::State state, const ompl::base::State near, const double distance)
	Sample a state (uniformly) within a certain distance of another state.
Private Member Functions
bool	sampleC (ompl::base::State *state)
Private Attributes
unsigned int	constrained_failure_
unsigned int	constrained_success_
constraint_samplers::ConstraintSamplerPtr	constraint_sampler_
ompl::base::StateSamplerPtr	default_
double	inv_dim_
const ModelBasedPlanningContext *	planning_context_
robot_state::RobotState	work_state_

Detailed Description

This class defines a sampler that tries to find a sample that satisfies the constraints

Definition at line 49 of file constrained_sampler.h.

Constructor & Destructor Documentation

ompl_interface::ConstrainedSampler::ConstrainedSampler	(	const ModelBasedPlanningContext *	pc,
		const constraint_samplers::ConstraintSamplerPtr &	cs
	)

Default constructor.

Parameters:

pg	The planning group
cs	A pointer to a kinematic constraint sampler

Definition at line 41 of file constrained_sampler.cpp.

double ompl_interface::ConstrainedSampler::getConstrainedSamplingRate ( ) const

Definition at line 54 of file constrained_sampler.cpp.

bool ompl_interface::ConstrainedSampler::sampleC ( ompl::base::State * state ) [private]

Definition at line 62 of file constrained_sampler.cpp.

void ompl_interface::ConstrainedSampler::sampleGaussian	(	ompl::base::State *	state,
		const ompl::base::State *	mean,
		const double	stdDev
	)		`[virtual]`

Sample a state using the specified Gaussian.

Definition at line 102 of file constrained_sampler.cpp.

void ompl_interface::ConstrainedSampler::sampleUniform ( ompl::base::State * state ) [virtual]

Sample a state (uniformly)

Definition at line 80 of file constrained_sampler.cpp.

void ompl_interface::ConstrainedSampler::sampleUniformNear	(	ompl::base::State *	state,
		const ompl::base::State *	near,
		const double	distance
	)		`[virtual]`