aikido::constraint::RejectionSampleable Class Reference

Rejection-based sampleable. More...

#include <aikido/constraint/RejectionSampleable.hpp>

Inheritance diagram for aikido::constraint::RejectionSampleable:

Public Member Functions
	RejectionSampleable (statespace::StateSpacePtr _stateSpace, SampleablePtr _sampleable, TestablePtr _testable, int _maxTrialPerSample)
	Constructor. More...
statespace::ConstStateSpacePtr	getStateSpace () const override
	Gets the StateSpace that this constraint operates on. More...
std::unique_ptr< SampleGenerator >	createSampleGenerator () const override
	Creates a SampleGenerator for sampling from this constraint. More...
Public Member Functions inherited from aikido::constraint::Sampleable
virtual	~Sampleable ()=default

Private Attributes
statespace::ConstStateSpacePtr	mStateSpace
SampleablePtr	mSampleable
TestablePtr	mTestable
int	mMaxTrialPerSample

Detailed Description

Rejection-based sampleable.

Takes a sampleable and a testable. SampleGenerators generate samples from the sampleable and return samples that pass the testable.

Constructor & Destructor Documentation

RejectionSampleable()

aikido::constraint::RejectionSampleable::RejectionSampleable	(	statespace::StateSpacePtr	_stateSpace,
		SampleablePtr	_sampleable,
		TestablePtr	_testable,
		int	_maxTrialPerSample
	)

Constructor.

Parameters

_stateSpace	StateSpace in which both sampleable and testable operate.
_sampleable	Sampleable for robot configuration.
_testable	Testable for each configuration.
_maxTrialPerSample	Max number of trials to generate each sample. If all _maxTrialPerSample fails to pass _testable, SampleGenerator.sample(...) will return false.

Member Function Documentation

createSampleGenerator()

std::unique_ptr<SampleGenerator> aikido::constraint::RejectionSampleable::createSampleGenerator ( ) const

overridevirtual

Creates a SampleGenerator for sampling from this constraint.

Implements aikido::constraint::Sampleable.

getStateSpace()

statespace::ConstStateSpacePtr aikido::constraint::RejectionSampleable::getStateSpace ( ) const

overridevirtual

Gets the StateSpace that this constraint operates on.

Implements aikido::constraint::Sampleable.

Member Data Documentation

mMaxTrialPerSample

int aikido::constraint::RejectionSampleable::mMaxTrialPerSample

private

mSampleable

SampleablePtr aikido::constraint::RejectionSampleable::mSampleable

private

mStateSpace

statespace::ConstStateSpacePtr aikido::constraint::RejectionSampleable::mStateSpace

private

mTestable

TestablePtr aikido::constraint::RejectionSampleable::mTestable

private