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GaussianValidStateSampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_SAMPLERS_GAUSSIAN_VALID_STATE_SAMPLER_
00038 #define OMPL_BASE_SAMPLERS_GAUSSIAN_VALID_STATE_SAMPLER_
00039 
00040 #include "ompl/base/ValidStateSampler.h"
00041 #include "ompl/base/StateSampler.h"
00042 
00043 namespace ompl
00044 {
00045     namespace base
00046     {
00047 
00049         class GaussianValidStateSampler : public ValidStateSampler
00050         {
00051         public:
00052 
00054             GaussianValidStateSampler(const SpaceInformation *si);
00055 
00056             virtual ~GaussianValidStateSampler(void)
00057             {
00058             }
00059 
00060             virtual bool sample(State *state);
00061             virtual bool sampleNear(State *state, const State *near, const double distance);
00062 
00064             double getStdDev(void) const
00065             {
00066                 return stddev_;
00067             }
00068 
00070             void setStdDev(double stddev)
00071             {
00072                 stddev_ = stddev;
00073             }
00074 
00075         protected:
00076 
00078             StateSamplerPtr sampler_;
00079 
00081             double                  stddev_;
00082         };
00083 
00084     }
00085 }
00086 
00087 
00088 #endif