CForestStateSampler.h
56 CForestStateSampler(const StateSpace *space, StateSamplerPtr sampler) : StateSampler(space), sampler_(sampler)
boost::mutex statesLock_
Lock to control the access to the statesToSample_ vector.
Definition: CForestStateSampler.h:101
A boost shared pointer wrapper for ompl::base::StateSampler.
StateSamplerPtr sampler_
Underlying, user-specified state sampler.
Definition: CForestStateSampler.h:98
CForestStateSampler(const StateSpace *space, StateSamplerPtr sampler)
Constructor.
Definition: CForestStateSampler.h:56
Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state ...
Definition: CForestStateSampler.h:51
void setStatesToSample(const std::vector< const State * > &states)
Fills the vector StatesToSample_ of states to be sampled in the next calls to sampleUniform(), sampleUniformNear() or sampleGaussian().
Definition: CForestStateSampler.cpp:63
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
Definition: CForestStateSampler.cpp:55
void getNextSample(State *state)
Extracts the next sample when statesToSample_ is not empty.
Definition: CForestStateSampler.cpp:80
virtual void sampleUniformNear(State *state, const State *near, const double distance)
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
Definition: CForestStateSampler.cpp:47
virtual void sampleUniform(State *state)
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
Definition: CForestStateSampler.cpp:39