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PrecomputedStateSampler.h
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/StateSampler.h"
38#include <vector>
39
40namespace ompl
41{
42 namespace base
43 {
46 {
47 public:
50 PrecomputedStateSampler(const StateSpace *space, const std::vector<const State *> &states);
51
54 PrecomputedStateSampler(const StateSpace *space, const std::vector<const State *> &states,
55 std::size_t minStateIndex, std::size_t maxStateIndex);
56
57 void sampleUniform(State *state) override;
58 void sampleUniformNear(State *state, const State *near, double distance) override;
59 void sampleGaussian(State *state, const State *mean, double stdDev) override;
60
61 protected:
63 const std::vector<const State *> &states_;
64
66 std::size_t minStateIndex_;
67
69 std::size_t maxStateIndex_;
70 };
71 }
72}
State space sampler for discrete states.
std::size_t minStateIndex_
The minimum index to start sampling at.
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
std::size_t maxStateIndex_
The maximum index to stop sampling at.
void sampleUniform(State *state) override
Sample a state.
PrecomputedStateSampler(const StateSpace *space, const std::vector< const State * > &states)
Constructor. Takes the state space to be sampled (space) and the set of states to draw samples from (...
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
const std::vector< const State * > & states_
The states to sample from.
Abstract definition of a state space sampler.
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition StateSpace.h:71
Definition of an abstract state.
Definition State.h:50
Main namespace. Contains everything in this library.