All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
ompl::base::CompoundStateSampler Class Reference

Definition of a compound state sampler. This is useful to construct samplers for compound states. More...

#include <StateSampler.h>

Inheritance diagram for ompl::base::CompoundStateSampler:

List of all members.

Public Member Functions

 CompoundStateSampler (const StateSpace *space)
 Constructor.
virtual ~CompoundStateSampler (void)
 Destructor. This frees the added samplers as well.
virtual void addSampler (const StateSamplerPtr &sampler, double weightImportance)
 Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compound state. When sampling near a state, the compound sampler calls in to added samplers. The distance passed to the called samplers is adjusted according to the specified importance.
virtual void sampleUniform (State *state)
 Sample a state.
virtual void sampleUniformNear (State *state, const State *near, const double distance)
 Sample a state near another, within specified distance.
virtual void sampleGaussian (State *state, const State *mean, const double stdDev)
 Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)

Protected Attributes

std::vector< StateSamplerPtrsamplers_
 The samplers that are composed.
std::vector< double > weightImportance_
 The weight of each sampler (used when sampling near a state)

Detailed Description

Definition of a compound state sampler. This is useful to construct samplers for compound states.

Definition at line 92 of file StateSampler.h.


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