Class GaussianValidStateSampler

Defined in File GaussianValidStateSampler.h

Inheritance Relationships

Base Type

public ompl::base::ValidStateSampler (Class ValidStateSampler)

Class Documentation

class GaussianValidStateSampler : public ompl::base::ValidStateSampler 

Generate valid samples using the Gaussian sampling strategy.

Public Functions

GaussianValidStateSampler(const SpaceInformation *si): Constructor.

~GaussianValidStateSampler() override = default

virtual bool sample(State *state) override: Sample a state. Return false in case of failure.

virtual bool sampleNear(State *state, const State *near, double distance) override: Sample a state near another, within specified distance. Return false, in case of failure.

Note

The memory for near must be disjoint from the memory for state

inline double getStdDev() const: Get the standard deviation used when sampling.

inline void setStdDev(double stddev): Set the standard deviation to use when sampling.

Protected Attributes

StateSamplerPtr sampler_: The sampler to build upon.

double stddev_: The standard deviation to use in the sampling process.