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ompl::base::RealVectorStateSampler Class Reference

State sampler for the Rn state space. More...

#include <ompl/base/spaces/RealVectorStateSpace.h>

Inheritance diagram for ompl::base::RealVectorStateSampler:

Public Member Functions

 RealVectorStateSampler (const StateSpace *space)
 Constructor.
void sampleUniform (State *state) override
 Sample a state.
void sampleUniformNear (State *state, const State *near, double distance) override
 Sample a state such that each component state[i] is uniformly sampled from [near[i]-distance, near[i]+distance]. If this interval exceeds the state space bounds, the interval is truncated.
void sampleGaussian (State *state, const State *mean, double stdDev) override
 Sample a state such that each component state[i] has a Gaussian distribution with mean mean[i] and standard deviation stdDev. If the sampled value exceeds the state space boundary, it is thresholded to the nearest boundary.
Public Member Functions inherited from ompl::base::StateSampler
 StateSampler (const StateSampler &)=delete
StateSampleroperator= (const StateSampler &)=delete
 StateSampler (const StateSpace *space)
 Constructor.

Additional Inherited Members

Protected Attributes inherited from ompl::base::StateSampler
const StateSpacespace_
 The state space this sampler samples.
RNG rng_
 An instance of a random number generator.

Detailed Description

State sampler for the Rn state space.

Definition at line 51 of file RealVectorStateSpace.h.

Constructor & Destructor Documentation

◆ RealVectorStateSampler()

ompl::base::RealVectorStateSampler::RealVectorStateSampler ( const StateSpace * space)
inline

Constructor.

Definition at line 55 of file RealVectorStateSpace.h.

Member Function Documentation

◆ sampleGaussian()

void ompl::base::RealVectorStateSampler::sampleGaussian ( State * state,
const State * mean,
double stdDev )
overridevirtual

Sample a state such that each component state[i] has a Gaussian distribution with mean mean[i] and standard deviation stdDev. If the sampled value exceeds the state space boundary, it is thresholded to the nearest boundary.

Implements ompl::base::StateSampler.

Definition at line 67 of file RealVectorStateSpace.cpp.

◆ sampleUniform()

void ompl::base::RealVectorStateSampler::sampleUniform ( State * state)
overridevirtual

Sample a state.

Implements ompl::base::StateSampler.

Definition at line 45 of file RealVectorStateSpace.cpp.

◆ sampleUniformNear()

void ompl::base::RealVectorStateSampler::sampleUniformNear ( State * state,
const State * near,
double distance )
overridevirtual

Sample a state such that each component state[i] is uniformly sampled from [near[i]-distance, near[i]+distance]. If this interval exceeds the state space bounds, the interval is truncated.

Implements ompl::base::StateSampler.

Definition at line 55 of file RealVectorStateSpace.cpp.


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