Class AtlasStateSampler

Defined in File AtlasStateSpace.h

Inheritance Relationships

Base Type

public ompl::base::StateSampler (Class StateSampler)

Class Documentation

class AtlasStateSampler : public ompl::base::StateSampler 

StateSampler for use on an atlas.

Public Functions

AtlasStateSampler(const AtlasStateSpace *space)

virtual void sampleUniform(State *state) override: Sample a state uniformly from the charted regions of the manifold. Return sample in state.

virtual void sampleUniformNear(State *state, const State *near, double distance) override: Sample a state uniformly from the ball with center near and radius distance. Return sample in state.

Note

rho_s_ is a good choice for distance.

virtual void sampleGaussian(State *state, const State *mean, double stdDev) override: Sample a state uniformly from a normal distribution with given mean and stdDev. Return sample in state.