ompl_interface::ConstrainedSampler Class Reference

#include <constrained_sampler.h>

Inheritance diagram for ompl_interface::ConstrainedSampler:

Public Member Functions
	ConstrainedSampler (const ModelBasedPlanningContext *pc, constraint_samplers::ConstraintSamplerPtr cs)
	Default constructor. More...
double	getConstrainedSamplingRate () const
void	sampleGaussian (ompl::base::State *state, const ompl::base::State *mean, const double stdDev) override
	Sample a state using the specified Gaussian. More...
void	sampleUniform (ompl::base::State *state) override
	Sample a state (uniformly) More...
void	sampleUniformNear (ompl::base::State *state, const ompl::base::State *near, const double distance) override
	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 ModelBasedPlanningContext *	planning_context_
moveit::core::RobotState	work_state_

Detailed Description

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

Definition at line 79 of file constrained_sampler.h.

Constructor & Destructor Documentation

ConstrainedSampler()

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

Default constructor.

Parameters

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

Definition at line 43 of file constrained_sampler.cpp.

Member Function Documentation

getConstrainedSamplingRate()

double ompl_interface::ConstrainedSampler::getConstrainedSamplingRate

(

)

const

Definition at line 56 of file constrained_sampler.cpp.

sampleC()

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

private

Definition at line 64 of file constrained_sampler.cpp.

sampleGaussian()

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

override

Sample a state using the specified Gaussian.

Definition at line 104 of file constrained_sampler.cpp.

sampleUniform()

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

override

Sample a state (uniformly)

Definition at line 82 of file constrained_sampler.cpp.

sampleUniformNear()

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

override

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

Definition at line 88 of file constrained_sampler.cpp.

Member Data Documentation

constrained_failure_

unsigned int ompl_interface::ConstrainedSampler::constrained_failure_

private

Definition at line 107 of file constrained_sampler.h.

constrained_success_

unsigned int ompl_interface::ConstrainedSampler::constrained_success_

private

Definition at line 106 of file constrained_sampler.h.

constraint_sampler_

constraint_samplers::ConstraintSamplerPtr ompl_interface::ConstrainedSampler::constraint_sampler_

private

Definition at line 104 of file constrained_sampler.h.

default_

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

private

Definition at line 103 of file constrained_sampler.h.

inv_dim_

double ompl_interface::ConstrainedSampler::inv_dim_

private

Definition at line 108 of file constrained_sampler.h.

planning_context_

const ModelBasedPlanningContext* ompl_interface::ConstrainedSampler::planning_context_

private

Definition at line 102 of file constrained_sampler.h.

work_state_

moveit::core::RobotState ompl_interface::ConstrainedSampler::work_state_

private

Definition at line 105 of file constrained_sampler.h.

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

• constrained_sampler.h
• constrained_sampler.cpp