ompl::base::ProjectedStateSampler Class Reference

StateSampler for use for a projection-based state space. More...

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

Inheritance diagram for ompl::base::ProjectedStateSampler:

Public Member Functions

 ProjectedStateSampler (const ProjectedStateSpace *space, StateSamplerPtr sampler)
 Constructor. More...
 
void sampleUniform (State *state) override
 Sample a state uniformly in ambient space and project to 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 in ambient space and project to the manifold. 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 in ambient space and project to the manifold. Return sample in state. More...
 
- Public Member Functions inherited from ompl::base::WrapperStateSampler
 WrapperStateSampler (const StateSpace *space, StateSamplerPtr sampler)
 Constructor. Requires the wrapper state space space and the underlying sampler sampler. More...
 
void sampleUniform (State *state) override
 Sample a state using underlying sampler. More...
 
void sampleUniformNear (State *state, const State *near, double distance) override
 Sample a nearby state using underlying sampler. More...
 
void sampleGaussian (State *state, const State *mean, double stdDev) override
 Sample a state within a Gaussian distribution using underlying sampler. 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...
 

Protected Attributes

const ConstraintPtr constraint_
 Constraint. More...
 
- Protected Attributes inherited from ompl::base::WrapperStateSampler
StateSamplerPtr sampler_
 Underlying state sampler. More...
 
- 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 for a projection-based state space.

Definition at line 58 of file ProjectedStateSpace.h.

Constructor & Destructor Documentation

◆ ProjectedStateSampler()

ompl::base::ProjectedStateSampler::ProjectedStateSampler ( const ProjectedStateSpace space,
StateSamplerPtr  sampler 
)

Constructor.

ProjectedStateSampler.

Public

Definition at line 46 of file ProjectedStateSpace.cpp.

Member Function Documentation

◆ sampleGaussian()

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

Sample a state uniformly from a normal distribution with given mean and stdDev in ambient space and project to the manifold. Return sample in state.

Implements ompl::base::StateSampler.

Definition at line 65 of file ProjectedStateSpace.cpp.

◆ sampleUniform()

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

Sample a state uniformly in ambient space and project to the manifold. Return sample in state.

Implements ompl::base::StateSampler.

Definition at line 51 of file ProjectedStateSpace.cpp.

◆ sampleUniformNear()

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

Sample a state uniformly from the ball with center near and radius distance in ambient space and project to the manifold. Return sample in state.

Implements ompl::base::StateSampler.

Definition at line 58 of file ProjectedStateSpace.cpp.

Member Data Documentation

◆ constraint_

const ConstraintPtr ompl::base::ProjectedStateSampler::constraint_
protected

Constraint.

Definition at line 80 of file ProjectedStateSpace.h.


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