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Class ompl::base::GoalLazySamples
The Python bindings for GoalLazySamples class are still broken. The OMPL C++ code creates a new thread from which you should be able to call a python Goal sampling function. Acquiring the right threads and locks and messing around with the Python Global Interpreter Lock (GIL) is very tricky. See ompl/py-bindings/generate_bindings.py for an initial attempt to make this work.
Member ompl::base::SO3StateSampler::sampleGaussian (State *state, const State *mean, const double stdDev)
How do we sample quaternions using a Gaussian distribution ?
Member ompl::base::SO3StateSampler::sampleUniformNear (State *state, const State *near, const double distance)
How do we sample near a quaternion ?