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:

List of all members.

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 StateSpacesubspace_
 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.


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