ompl/base/src/PrecomputedStateSampler.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/base/PrecomputedStateSampler.h"
00038 #include "ompl/base/StateSpace.h"
00039 #include "ompl/util/Exception.h"
00040 
00041 ompl::base::PrecomputedStateSampler::PrecomputedStateSampler(const StateSpace *space, const std::vector<const State*> &states) :
00042     StateSampler(space), states_(states)
00043 {
00044     if (states_.empty())
00045         throw Exception("Empty set of states to sample from was specified");
00046     minStateIndex_ = 0;
00047     maxStateIndex_ = states_.size() - 1;
00048 }
00049 
00050 ompl::base::PrecomputedStateSampler::PrecomputedStateSampler(const StateSpace *space, const std::vector<const State*> &states, std::size_t minStateIndex, std::size_t maxStateIndex) :
00051     StateSampler(space), states_(states), minStateIndex_(minStateIndex), maxStateIndex_(maxStateIndex)
00052 {
00053     if (states_.empty())
00054         throw Exception("Empty set of states to sample from was specified");
00055     if (minStateIndex > maxStateIndex)
00056         throw Exception("Minimum state index cannot be larger than maximum state index");
00057     if (maxStateIndex >= states_.size())
00058         throw Exception("Index range out of bounds");
00059 }
00060 
00061 void ompl::base::PrecomputedStateSampler::sampleUniform(State *state)
00062 {
00063     space_->copyState(state, states_[rng_.uniformInt(minStateIndex_, maxStateIndex_)]);
00064 }
00065 
00066 void ompl::base::PrecomputedStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
00067 {
00068     int index = rng_.uniformInt(minStateIndex_, maxStateIndex_);
00069     double dist = space_->distance(near, states_[index]);
00070     if (dist > distance)
00071       space_->interpolate(near, states_[index], distance / dist, state);
00072     else
00073       space_->copyState(state, states_[index]);
00074 }
00075 
00076 void ompl::base::PrecomputedStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
00077 {
00078     sampleUniformNear(state, mean, rng_.gaussian(0.0, stdDev));
00079 }
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