Class PrecomputedStateSampler

Inheritance Relationships

Base Type

Class Documentation

class PrecomputedStateSampler : public ompl::base::StateSampler

State space sampler for discrete states.

Public Functions

PrecomputedStateSampler(const StateSpace *space, const std::vector<const State*> &states)

Constructor. Takes the state space to be sampled (space) and the set of states to draw samples from (states)

PrecomputedStateSampler(const StateSpace *space, const std::vector<const State*> &states, std::size_t minStateIndex, std::size_t maxStateIndex)

Constructor. Takes the state space to be sampled (space), the set of states to draw samples from (states) and a range to sample from: [minIndex, maxIndex].

virtual void sampleUniform(State *state) override

Sample a state.

virtual void sampleUniformNear(State *state, const State *near, double distance) override

Sample a state near another, within a neighborhood controlled by a distance parameter.

Typically, StateSampler-derived classes will return in state a state that is uniformly distributed within a ball with radius distance defined by the distance function from the corresponding state space. However, this is not guaranteed. For example, the default state sampler for the RealVectorStateSpace returns samples uniformly distributed using L_inf distance, while the default distance function is L_2 distance.

virtual void sampleGaussian(State *state, const State *mean, double stdDev) override

Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).

As with sampleUniform, the implementation of sampleGaussian is specific to the derived class and few assumptions can be made about the distance between state and mean.

Protected Attributes

const std::vector<const State*> &states_

The states to sample from.

std::size_t minStateIndex_

The minimum index to start sampling at.

std::size_t maxStateIndex_

The maximum index to stop sampling at.