base::SubspaceStateSampler Class Reference
Construct a sampler that samples only within a subspace of the space. More...
#include <ompl/base/StateSampler.h>
Inheritance diagram for base::SubspaceStateSampler:

Public Member Functions | |
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 multiplicative factor for distance and stdDev in the sampleUniformNear() and sampleGaussian() functions. | |
virtual void | sampleUniform (State *state) |
Sample a state. | |
virtual void | sampleUniformNear (State *state, const State *near, const double distance) |
Sample a state near another, within specified distance. | |
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) | |
Protected Attributes | |
const StateSpace * | subspace_ |
The subspace to sample. | |
StateSamplerPtr | subspaceSampler_ |
The sampler for the subspace. | |
double | weight_ |
The weigth factor to multiply distance and stdDev when sampling in the vicinity of a state. | |
std::vector< std::string > | subspaces_ |
The names of common subspaces between space_ and subspace_; these are the ones copied after sampling a state. |
Detailed Description
Construct a sampler that samples only within a subspace of the space.
Definition at line 146 of file StateSampler.h.
The documentation for this class was generated from the following files:
- ompl/base/StateSampler.h
- ompl/base/src/StateSampler.cpp