StateSampler.h
boost::function< StateSamplerPtr(const StateSpace *)> StateSamplerAllocator
Definition of a function that can allocate a state sampler.
Definition: StateSampler.h:184
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)=0
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) ...
std::vector< std::string > subspaces_
The names of common subspaces between space_ and subspace_; these are the ones copied after sampling ...
Definition: StateSampler.h:172
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) ...
Definition: StateSampler.cpp:103
A boost shared pointer wrapper for ompl::base::StateSampler.
std::vector< StateSamplerPtr > samplers_
The samplers that are composed.
Definition: StateSampler.h:133
SubspaceStateSampler(const StateSpace *space, const StateSpace *subspace, double weight)
Construct a sampler for space but only sample components common to subspace. Use weight as a multipli...
Definition: StateSampler.cpp:74
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 compoun...
Definition: StateSampler.cpp:40
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
Definition: StateSampler.cpp:96
virtual ~CompoundStateSampler()
Destructor. This frees the added samplers as well.
Definition: StateSampler.h:108
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
Call sampleGaussian for each of the subspace states with stdDev scaled by the corresponding subspace ...
Definition: StateSampler.cpp:66
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Call sampleUniformNear for each of the subspace states with distance scaled by the corresponding subs...
Definition: StateSampler.cpp:54
double weight_
The weigth factor to multiply distance and stdDev when sampling in the vicinity of a state...
Definition: StateSampler.h:169
virtual void sampleUniformNear(State *state, const State *near, const double distance)=0
Sample a state near another, within specified distance.
Definition of a compound state sampler. This is useful to construct samplers for compound states...
Definition: StateSampler.h:98
Construct a sampler that samples only within a subspace of the space.
Definition: StateSampler.h:146
std::vector< double > weightImportance_
The weight of each sampler (used when sampling near a state)
Definition: StateSampler.h:136