Class StateSampler

• Defined in File StateSampler.h

Inheritance Relationships

Derived Types

• public ompl::base::AtlasStateSampler (Class AtlasStateSampler)

• public ompl::base::CForestStateSampler (Class CForestStateSampler)

• public ompl::base::CompoundStateSampler (Class CompoundStateSampler)

• public ompl::base::DeterministicStateSampler (Class DeterministicStateSampler)

• public ompl::base::DiscreteStateSampler (Class DiscreteStateSampler)

• public ompl::base::HybridTimeStateSampler (Class HybridTimeStateSampler)

• public ompl::base::InformedStateSampler (Class InformedStateSampler)

• public ompl::base::KleinBottleStateSampler (Class KleinBottleStateSampler)

• public ompl::base::PrecomputedStateSampler (Class PrecomputedStateSampler)

• public ompl::base::RealVectorStateSampler (Class RealVectorStateSampler)

• public ompl::base::SO2StateSampler (Class SO2StateSampler)

• public ompl::base::SO3StateSampler (Class SO3StateSampler)

• public ompl::base::SphereStateSampler (Class SphereStateSampler)

• public ompl::base::SubspaceStateSampler (Class SubspaceStateSampler)

• public ompl::base::TimeStateSampler (Class TimeStateSampler)

• public ompl::base::TorusStateSampler (Class TorusStateSampler)

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

Class Documentation

class StateSampler

Abstract definition of a state space sampler.

Subclassed by ompl::base::AtlasStateSampler, ompl::base::CForestStateSampler, ompl::base::CompoundStateSampler, ompl::base::DeterministicStateSampler, ompl::base::DiscreteStateSampler, ompl::base::HybridTimeStateSampler, ompl::base::InformedStateSampler, ompl::base::KleinBottleStateSampler, ompl::base::PrecomputedStateSampler, ompl::base::RealVectorStateSampler, ompl::base::SO2StateSampler, ompl::base::SO3StateSampler, ompl::base::SphereStateSampler, ompl::base::SubspaceStateSampler, ompl::base::TimeStateSampler, ompl::base::TorusStateSampler, ompl::base::WrapperStateSampler

Public Functions

StateSampler(const StateSampler&) = delete

StateSampler &operator=(const StateSampler&) = delete

inline StateSampler(const StateSpace *space)

Constructor.

virtual ~StateSampler() = default

virtual void sampleUniform(State *state) = 0

Sample a state.

virtual void sampleUniformNear(State *state, const State *near, double distance) = 0

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) = 0

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 StateSpace *space_

The state space this sampler samples.

RNG rng_

An instance of a random number generator.