Public Member Functions | Private Member Functions | Private Attributes | List of all members
ompl_interface::ConstrainedSampler Class Reference

#include <constrained_sampler.h>

Inheritance diagram for ompl_interface::ConstrainedSampler:
Inheritance graph

Public Member Functions

 ConstrainedSampler (const ModelBasedPlanningContext *pc, const constraint_samplers::ConstraintSamplerPtr &cs)
 Default constructor. More...
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. More...
virtual void sampleUniform (ompl::base::State *state)
 Sample a state (uniformly) More...
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. More...

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 ModelBasedPlanningContextplanning_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.

pgThe planning group
csA pointer to a kinematic constraint sampler

Definition at line 41 of file constrained_sampler.cpp.

Member Function Documentation

double ompl_interface::ConstrainedSampler::getConstrainedSamplingRate ( ) const

Definition at line 54 of file constrained_sampler.cpp.

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

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 

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)

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 

Sample a state (uniformly) within a certain distance of another state.

Definition at line 86 of file constrained_sampler.cpp.

Member Data Documentation

unsigned int ompl_interface::ConstrainedSampler::constrained_failure_

Definition at line 77 of file constrained_sampler.h.

unsigned int ompl_interface::ConstrainedSampler::constrained_success_

Definition at line 76 of file constrained_sampler.h.

constraint_samplers::ConstraintSamplerPtr ompl_interface::ConstrainedSampler::constraint_sampler_

Definition at line 74 of file constrained_sampler.h.

ompl::base::StateSamplerPtr ompl_interface::ConstrainedSampler::default_

Definition at line 73 of file constrained_sampler.h.

double ompl_interface::ConstrainedSampler::inv_dim_

Definition at line 78 of file constrained_sampler.h.

const ModelBasedPlanningContext* ompl_interface::ConstrainedSampler::planning_context_

Definition at line 72 of file constrained_sampler.h.

robot_state::RobotState ompl_interface::ConstrainedSampler::work_state_

Definition at line 75 of file constrained_sampler.h.

The documentation for this class was generated from the following files:

Author(s): Ioan Sucan
autogenerated on Sun Oct 18 2020 13:18:01