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ompl::base::AtlasStateSampler Class Reference

StateSampler for use on an atlas. More...

#include <ompl/base/spaces/constraint/AtlasStateSpace.h>

Inheritance diagram for ompl::base::AtlasStateSampler:

Public Member Functions

 AtlasStateSampler (const AtlasStateSpace *space)
 AtlasStateSampler. More...
 
void sampleUniform (State *state) override
 Sample a state uniformly from the charted regions of the manifold. Return sample in state. More...
 
void sampleUniformNear (State *state, const State *near, double distance) override
 Sample a state uniformly from the ball with center near and radius distance. Return sample in state. More...
 
void sampleGaussian (State *state, const State *mean, double stdDev) override
 Sample a state uniformly from a normal distribution with given mean and stdDev. Return sample in state. More...
 
- Public Member Functions inherited from ompl::base::StateSampler
 StateSampler (const StateSampler &)=delete
 
StateSampleroperator= (const StateSampler &)=delete
 
 StateSampler (const StateSpace *space)
 Constructor. More...
 
virtual void sampleUniform (State *state)=0
 Sample a state. More...
 
virtual void sampleUniformNear (State *state, const State *near, double distance)=0
 Sample a state near another, within a neighborhood controlled by a distance parameter. More...
 
virtual void sampleGaussian (State *state, const State *mean, double stdDev)=0
 Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev). More...
 

Additional Inherited Members

- Protected Attributes inherited from ompl::base::StateSampler
const StateSpacespace_
 The state space this sampler samples. More...
 
RNG rng_
 An instance of a random number generator. More...
 

Detailed Description

StateSampler for use on an atlas.

Definition at line 76 of file AtlasStateSpace.h.

Constructor & Destructor Documentation

◆ AtlasStateSampler()

ompl::base::AtlasStateSampler::AtlasStateSampler ( const AtlasStateSpace space)

AtlasStateSampler.

Public

Definition at line 47 of file AtlasStateSpace.cpp.

Member Function Documentation

◆ sampleGaussian()

void ompl::base::AtlasStateSampler::sampleGaussian ( State state,
const State mean,
double  stdDev 
)
overridevirtual

Sample a state uniformly from a normal distribution with given mean and stdDev. Return sample in state.

Implements ompl::base::StateSampler.

Definition at line 150 of file AtlasStateSpace.cpp.

◆ sampleUniform()

void ompl::base::AtlasStateSampler::sampleUniform ( State state)
overridevirtual

Sample a state uniformly from the charted regions of the manifold. Return sample in state.

Implements ompl::base::StateSampler.

Definition at line 51 of file AtlasStateSpace.cpp.

◆ sampleUniformNear()

void ompl::base::AtlasStateSampler::sampleUniformNear ( State state,
const State near,
double  distance 
)
overridevirtual

Sample a state uniformly from the ball with center near and radius distance. Return sample in state.

Note
rho_s_ is a good choice for distance.

Implements ompl::base::StateSampler.

Definition at line 99 of file AtlasStateSpace.cpp.


The documentation for this class was generated from the following files: