StateSampler.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_SPACE_STATE_SAMPLER_
#define OMPL_BASE_SPACE_STATE_SAMPLER_

#include "ompl/base/State.h"
#include "ompl/util/RandomNumbers.h"
#include "ompl/util/ClassForward.h"
#include <vector>
#include <boost/noncopyable.hpp>

namespace ompl
{
    namespace base
    {

        ClassForward(StateSpace);

        ClassForward(StateSampler);

        class StateSampler : private boost::noncopyable
        {
        public:

            StateSampler(const StateSpace *space) : space_(space)
            {
            }

            virtual ~StateSampler(void)
            {
            }

            virtual void sampleUniform(State *state) = 0;

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

            virtual void sampleGaussian(State *state, const State *mean, const double stdDev) = 0;

        protected:

            const StateSpace *space_;

            RNG                  rng_;
        };

        class CompoundStateSampler : public StateSampler
        {
        public:

            CompoundStateSampler(const StateSpace* space) : StateSampler(space), samplerCount_(0)
            {
            }

            virtual ~CompoundStateSampler(void)
            {
            }

            virtual void addSampler(const StateSamplerPtr &sampler, double weightImportance);

            virtual void sampleUniform(State *state);

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

            virtual void sampleGaussian(State *state, const State *mean, const double stdDev);

        protected:

            std::vector<StateSamplerPtr> samplers_;

            std::vector<double>                  weightImportance_;

        private:

            unsigned int                         samplerCount_;

        };

    }
}


#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:20 2013