#include <constrained_sampler.h>

Inheritance diagram for ompl_interface::ConstrainedSampler:

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 ModelBasedPlanningContext *	planning_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

pg	The planning group
cs	A 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:

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation