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PrecomputedStateSampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/PrecomputedStateSampler.h"
38 #include "ompl/base/StateSpace.h"
39 #include "ompl/util/Exception.h"
40 
41 ompl::base::PrecomputedStateSampler::PrecomputedStateSampler(const StateSpace *space, const std::vector<const State*> &states) :
42  StateSampler(space), states_(states)
43 {
44  if (states_.empty())
45  throw Exception("Empty set of states to sample from was specified");
46  minStateIndex_ = 0;
47  maxStateIndex_ = states_.size() - 1;
48 }
49 
50 ompl::base::PrecomputedStateSampler::PrecomputedStateSampler(const StateSpace *space, const std::vector<const State*> &states, std::size_t minStateIndex, std::size_t maxStateIndex) :
51  StateSampler(space), states_(states), minStateIndex_(minStateIndex), maxStateIndex_(maxStateIndex)
52 {
53  if (states_.empty())
54  throw Exception("Empty set of states to sample from was specified");
55  if (minStateIndex > maxStateIndex)
56  throw Exception("Minimum state index cannot be larger than maximum state index");
57  if (maxStateIndex >= states_.size())
58  throw Exception("Index range out of bounds");
59 }
60 
62 {
63  space_->copyState(state, states_[rng_.uniformInt(minStateIndex_, maxStateIndex_)]);
64 }
65 
66 void ompl::base::PrecomputedStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
67 {
68  int index = rng_.uniformInt(minStateIndex_, maxStateIndex_);
69  double dist = space_->distance(near, states_[index]);
70  if (dist > distance)
71  space_->interpolate(near, states_[index], distance / dist, state);
72  else
73  space_->copyState(state, states_[index]);
74 }
75 
76 void ompl::base::PrecomputedStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
77 {
78  sampleUniformNear(state, mean, rng_.gaussian(0.0, stdDev));
79 }