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. More...
 
void sampleUniform (State *state) override
 Sample a state. More...
 
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. More...
 
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. More...
 
- Public Member Functions inherited from ompl::base::StateSampler
 StateSampler (const StateSampler &)=delete
 
StateSampleroperator= (const StateSampler &)=delete
 
 StateSampler (const StateSpace *space)
 Constructor. More...
 
virtual void sampleUniform (State *state)=0
 Sample a state. More...
 
virtual void sampleUniformNear (State *state, const State *near, double distance)=0
 Sample a state near another, within a neighborhood controlled by a distance parameter. More...
 
virtual void sampleGaussian (State *state, const State *mean, double stdDev)=0
 Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev). More...
 

Additional Inherited Members

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

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: