aikido::planner::ompl::StateSampler Class Reference

Wraps an aikido::constraint::SampleGenerator in a ompl::base::StateSampler. More...

#include <aikido/planner/ompl/StateSampler.hpp>

Inheritance diagram for aikido::planner::ompl::StateSampler:

Public Member Functions
	StateSampler (const ::ompl::base::StateSpace *_space, std::unique_ptr< constraint::SampleGenerator > _generator)
	Constructor. More...
void	sampleUniform (::ompl::base::State *_state) override
	Sample a state from the space. More...
void	sampleUniformNear (::ompl::base::State *_state, const ::ompl::base::State *_near, double distance) override
	Not implemented. Throws std::domain_error. More...
void	sampleGaussian (::ompl::base::State *_state, const ::ompl::base::State *_mean, double stdDev) override
	Not implemented. Throws std::domain_error. More...

Private Attributes
std::unique_ptr< aikido::constraint::SampleGenerator >	mGenerator

Detailed Description

Wraps an aikido::constraint::SampleGenerator in a ompl::base::StateSampler.

Constructor & Destructor Documentation

StateSampler()

aikido::planner::ompl::StateSampler::StateSampler	(	const ::ompl::base::StateSpace *	_space,
		std::unique_ptr< constraint::SampleGenerator >	_generator
	)

Constructor.

Parameters

_space	The OMPL StateSpace this sampler is defined against
_generator	A SampleGenerator capable of generating samples for the aikido::statespace::StateSpace wrapped by _space

Member Function Documentation

sampleGaussian()

void aikido::planner::ompl::StateSampler::sampleGaussian ( ::ompl::base::State *  _state, const ::ompl::base::State *  _mean, double  stdDev  )

override

Not implemented. Throws std::domain_error.

sampleUniform()

void aikido::planner::ompl::StateSampler::sampleUniform ( ::ompl::base::State *  _state )

override

Sample a state from the space.

Warning: The sampling is not guarenteed uniform. The distribution of the sampling is determined by the SampleGenerator wrapped by this class.

Parameters

[out]

_state

The sampled state

sampleUniformNear()

void aikido::planner::ompl::StateSampler::sampleUniformNear ( ::ompl::base::State *  _state, const ::ompl::base::State *  _near, double  distance  )

override

Not implemented. Throws std::domain_error.

Member Data Documentation

mGenerator

std::unique_ptr<aikido::constraint::SampleGenerator> aikido::planner::ompl::StateSampler::mGenerator

private