Class RealVectorStateSampler

Defined in File RealVectorStateSpace.h

Inheritance Relationships

Base Type

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

Class Documentation

class RealVectorStateSampler : public ompl::base::StateSampler 

State sampler for the Rⁿ state space.

Public Functions

inline RealVectorStateSampler(const StateSpace *space): Constructor.

virtual void sampleUniform(State *state) override: Sample a state.

virtual void sampleUniformNear(State *state, const State *near, double distance) override: Sample a state such that each component state[i] is uniformly sampled from [near[i]-distance, near[i]+distance]. If this interval exceeds the state space bounds, the interval is truncated.

virtual void sampleGaussian(State *state, const State *mean, double stdDev) override: Sample a state such that each component state[i] has a Gaussian distribution with mean mean[i] and standard deviation stdDev. If the sampled value exceeds the state space boundary, it is thresholded to the nearest boundary.