Class BundleSpaceGraphSampler

Defined in File GraphSampler.h

Inheritance Relationships

Derived Types

public ompl::multilevel::BundleSpaceGraphSamplerRandomDegreeVertex (Class BundleSpaceGraphSamplerRandomDegreeVertex)
public ompl::multilevel::BundleSpaceGraphSamplerRandomEdge (Class BundleSpaceGraphSamplerRandomEdge)
public ompl::multilevel::BundleSpaceGraphSamplerRandomVertex (Class BundleSpaceGraphSamplerRandomVertex)

Class Documentation

class BundleSpaceGraphSampler

Subclassed by ompl::multilevel::BundleSpaceGraphSamplerRandomDegreeVertex, ompl::multilevel::BundleSpaceGraphSamplerRandomEdge, ompl::multilevel::BundleSpaceGraphSamplerRandomVertex

Public Functions

BundleSpaceGraphSampler() = delete

BundleSpaceGraphSampler(BundleSpaceGraph*)

virtual void sample(base::State *xRandom)

void setPathBiasStartSegment(double)

double getPathBiasStartSegment()

void disableSegmentBias()

void disablePathBias()

virtual void clear()

Protected Types

using Vertex = ompl::multilevel::BundleSpaceGraph::Vertex 

using RNGType = boost::minstd_rand

Protected Functions

virtual void sampleImplementation(base::State *xRandom) = 0

Protected Attributes

RNGType rng_boost

RNG rng_

BundleSpaceGraph *bundleSpaceGraph_

double epsilonGraphThickening_ = {0.0}

double epsilonGraphThickeningFraction_ = {1e-3}

double pathBiasFixed_ = {0.1}

double pathBiasStartSegment_ = {0.0}

bool segmentBias_ = {true}

double exponentialDecayLambda_ = {1e-5}

unsigned long long counterPathSampling_ = {0}

unsigned long long counterGraphSampling_ = {0}

ParameterExponentialDecay pathBiasDecay_

ParameterExponentialDecay graphThickeningGrowth_

ParameterExponentialDecay pathThickeningGrowth_