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

Inheritance diagram for ompl::base::GaussianValidStateSampler:

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. More...

double	getStdDev (void) const
	Get the standard deviation used when sampling.

void	setStdDev (double stddev)
	Set the standard deviation to use when sampling.

Public Member Functions inherited from ompl::base::ValidStateSampler
	ValidStateSampler (const SpaceInformation *si)
	Constructor.

const std::string &	getName (void) const
	Get the name of the sampler.

void	setName (const std::string &name)
	Set the name of the sampler.

void	setNrAttempts (unsigned int attempts)
	Finding a valid sample usually requires performing multiple attempts. This call allows setting the number of such attempts.

unsigned int	getNrAttempts (void) const
	Get the number of attempts to be performed by the sampling routine.

ParamSet &	params (void)
	Get the parameters for the valid state sampler.

const ParamSet &	params (void) const
	Get the parameters for the valid state sampler.

Protected Attributes
StateSamplerPtr	sampler_
	The sampler to build upon.

double	stddev_
	The standard deviation to use in the sampling process.

Protected Attributes inherited from ompl::base::ValidStateSampler
const SpaceInformation *	si_
	The state space this sampler samples.

unsigned int	attempts_
	Number of attempts to find a valid sample.

std::string	name_
	The name of the sampler.

ParamSet	params_
	The parameters for this instance of the valid state sampler.

Detailed Description

Generate valid samples using the Gaussian sampling strategy.

Member Function Documentation

bool ompl::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.

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