CForestStateSampler.h
A shared pointer wrapper for ompl::base::StateSampler.
StateSamplerPtr sampler_
Underlying, user-specified state sampler.
Definition: CForestStateSampler.h:97
std::mutex statesLock_
Lock to control the access to the statesToSample_ vector.
Definition: CForestStateSampler.h:100
STL namespace.
CForestStateSampler(const StateSpace *space, StateSamplerPtr sampler)
Constructor.
Definition: CForestStateSampler.h:55
Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state ...
Definition: CForestStateSampler.h:51
void sampleUniformNear(State *state, const State *near, double distance) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
Definition: CForestStateSampler.cpp:47
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
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
void sampleUniform(State *state) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
Definition: CForestStateSampler.cpp:39
void getNextSample(State *state)
Extracts the next sample when statesToSample_ is not empty.
Definition: CForestStateSampler.cpp:80
void sampleGaussian(State *state, const State *mean, double stdDev) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
Definition: CForestStateSampler.cpp:55