Class RealVectorDeterministicStateSampler

Inheritance Relationships

Base Type

Class Documentation

class RealVectorDeterministicStateSampler : public ompl::base::DeterministicStateSampler

Deterministic state sampler for the Rn state space.

Public Functions

inline RealVectorDeterministicStateSampler(const StateSpace *space, DeterministicSamplerType type = DeterministicSamplerType::HALTON)

Constructor, which creates the sequence internally based on the specified sequence type. Uses the default constructor for the sequence.

inline RealVectorDeterministicStateSampler(const StateSpace *space, std::shared_ptr<DeterministicSequence> sequence_ptr, bool stretch = true)

Constructor that takes a pointer to a DeterministicSequence and uses that object instead of its own. This can be used to apply non default options to the deterministic sequence.

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.