Public Member Functions | Private Member Functions | Private Attributes | List of all members
ompl_interface::ConstrainedSampler Class Reference

#include <constrained_sampler.h>

Inheritance diagram for ompl_interface::ConstrainedSampler:
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Public Member Functions

 ConstrainedSampler (const ModelBasedPlanningContext *pc, const constraint_samplers::ConstraintSamplerPtr &cs)
 Default constructor. More...
 
double getConstrainedSamplingRate () const
 
virtual void sampleGaussian (ompl::base::State *state, const ompl::base::State *mean, const double stdDev)
 Sample a state using the specified Gaussian. More...
 
virtual void sampleUniform (ompl::base::State *state)
 Sample a state (uniformly) More...
 
virtual void sampleUniformNear (ompl::base::State *state, const ompl::base::State *near, const double distance)
 Sample a state (uniformly) within a certain distance of another state. More...
 

Private Member Functions

bool sampleC (ompl::base::State *state)
 

Private Attributes

unsigned int constrained_failure_
 
unsigned int constrained_success_
 
constraint_samplers::ConstraintSamplerPtr constraint_sampler_
 
ompl::base::StateSamplerPtr default_
 
double inv_dim_
 
const ModelBasedPlanningContextplanning_context_
 
robot_state::RobotState work_state_
 

Detailed Description

This class defines a sampler that tries to find a sample that satisfies the constraints

Definition at line 49 of file constrained_sampler.h.

Constructor & Destructor Documentation

ompl_interface::ConstrainedSampler::ConstrainedSampler ( const ModelBasedPlanningContext pc,
const constraint_samplers::ConstraintSamplerPtr &  cs 
)

Default constructor.

Parameters
pgThe planning group
csA pointer to a kinematic constraint sampler

Definition at line 41 of file constrained_sampler.cpp.

Member Function Documentation

double ompl_interface::ConstrainedSampler::getConstrainedSamplingRate ( ) const

Definition at line 54 of file constrained_sampler.cpp.

bool ompl_interface::ConstrainedSampler::sampleC ( ompl::base::State *  state)
private

Definition at line 62 of file constrained_sampler.cpp.

void ompl_interface::ConstrainedSampler::sampleGaussian ( ompl::base::State *  state,
const ompl::base::State *  mean,
const double  stdDev 
)
virtual

Sample a state using the specified Gaussian.

Definition at line 102 of file constrained_sampler.cpp.

void ompl_interface::ConstrainedSampler::sampleUniform ( ompl::base::State *  state)
virtual

Sample a state (uniformly)

Definition at line 80 of file constrained_sampler.cpp.

void ompl_interface::ConstrainedSampler::sampleUniformNear ( ompl::base::State *  state,
const ompl::base::State *  near,
const double  distance 
)
virtual

Sample a state (uniformly) within a certain distance of another state.

Definition at line 86 of file constrained_sampler.cpp.

Member Data Documentation

unsigned int ompl_interface::ConstrainedSampler::constrained_failure_
private

Definition at line 77 of file constrained_sampler.h.

unsigned int ompl_interface::ConstrainedSampler::constrained_success_
private

Definition at line 76 of file constrained_sampler.h.

constraint_samplers::ConstraintSamplerPtr ompl_interface::ConstrainedSampler::constraint_sampler_
private

Definition at line 74 of file constrained_sampler.h.

ompl::base::StateSamplerPtr ompl_interface::ConstrainedSampler::default_
private

Definition at line 73 of file constrained_sampler.h.

double ompl_interface::ConstrainedSampler::inv_dim_
private

Definition at line 78 of file constrained_sampler.h.

const ModelBasedPlanningContext* ompl_interface::ConstrainedSampler::planning_context_
private

Definition at line 72 of file constrained_sampler.h.

robot_state::RobotState ompl_interface::ConstrainedSampler::work_state_
private

Definition at line 75 of file constrained_sampler.h.


The documentation for this class was generated from the following files:


ompl
Author(s): Ioan Sucan
autogenerated on Sat Sep 15 2018 02:51:47