ompl::base::CForestStateSampler Class Reference

Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state sampler. More...

#include <ompl/geometric/planners/cforest/CForestStateSampler.h>

Inheritance diagram for ompl::base::CForestStateSampler:

List of all members.

Public Member Functions

 CForestStateSampler (const StateSpace *space, StateSamplerPtr sampler)
 Constructor.
 ~CForestStateSampler ()
 Destructor.
virtual void sampleUniform (State *state)
 It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampleUniform() method of the specified sampler.
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 sampleUniformNear() method of the specified sampler.
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 sampleGaussian() method of the specified sampler.
const StateSpacegetStateSpace () const
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().
void clear ()

Protected Member Functions

void getNextSample (State *state)
 Extracts the next sample when statesToSample_ is not empty.

Protected Attributes

std::vector< State * > statesToSample_
 States to be sampled.
StateSamplerPtr sampler_
 Underlying, user-specified state sampler.
boost::mutex statesLock_
 Lock to control the access to the statesToSample_ vector.

Detailed Description

Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state sampler.

Definition at line 51 of file CForestStateSampler.h.


The documentation for this class was generated from the following files:
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines