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StateSampler.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/StateSampler.h"
00038 #include "ompl/base/StateSpace.h"
00039 
00040 void ompl::base::CompoundStateSampler::addSampler(const StateSamplerPtr &sampler, double weightImportance)
00041 {
00042     samplers_.push_back(sampler);
00043     weightImportance_.push_back(weightImportance);
00044     samplerCount_ = samplers_.size();
00045 }
00046 
00047 void ompl::base::CompoundStateSampler::sampleUniform(State *state)
00048 {
00049     State **comps = state->as<CompoundState>()->components;
00050     for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00051         samplers_[i]->sampleUniform(comps[i]);
00052 }
00053 
00054 void ompl::base::CompoundStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
00055 {
00056     State **comps = state->as<CompoundState>()->components;
00057     State **nearComps = near->as<CompoundState>()->components;
00058     for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00059         samplers_[i]->sampleUniformNear(comps[i], nearComps[i], weightImportance_[i] * distance);
00060 }
00061 
00062 void ompl::base::CompoundStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
00063 {
00064     State **comps = state->as<CompoundState>()->components;
00065     State **meanComps = mean->as<CompoundState>()->components;
00066     for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00067         samplers_[i]->sampleGaussian(comps[i], meanComps[i], stdDev);
00068 }