base::GaussianValidStateSampler Class Reference

Generate valid samples using the Gaussian sampling strategy. More...

#include <ompl/base/samplers/GaussianValidStateSampler.h>

Inheritance diagram for base::GaussianValidStateSampler:

List of all members.

Public Member Functions

 GaussianValidStateSampler (const SpaceInformation *si)
 Constructor.
virtual bool sample (State *state)
 Sample a state. Return false in case of failure.
virtual bool sampleNear (State *state, const State *near, const double distance)
 Sample a state near another, within specified distance. Return false, in case of failure.
double getStdDev () const
 Get the standard deviation used when sampling.
void setStdDev (double stddev)
 Set the standard deviation to use when sampling.

Protected Attributes

StateSamplerPtr sampler_
 The sampler to build upon.
double stddev_
 The standard deviation to use in the sampling process.

Detailed Description

Generate valid samples using the Gaussian sampling strategy.

Definition at line 49 of file GaussianValidStateSampler.h.


Member Function Documentation

bool base::GaussianValidStateSampler::sampleNear ( State state,
const State near,
const double  distance 
) [virtual]

Sample a state near another, within specified distance. Return false, in case of failure.

Note:
The memory for near must be disjoint from the memory for state

Implements base::ValidStateSampler.

Definition at line 73 of file GaussianValidStateSampler.cpp.


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