Class ProjectedStateSampler

Defined in File ProjectedStateSpace.h

Inheritance Relationships

Base Type

public ompl::base::WrapperStateSampler (Class WrapperStateSampler)

Class Documentation

class ProjectedStateSampler : public ompl::base::WrapperStateSampler 

StateSampler for use for a projection-based state space.

Public Functions

ProjectedStateSampler(const ProjectedStateSpace *space, StateSamplerPtr sampler): Constructor.

virtual void sampleUniform(State *state) override: Sample a state uniformly in ambient space and project to 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 in ambient space and project to the manifold. Return sample in state.

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

Protected Attributes

const ConstraintPtr constraint_: Constraint.