Aikido
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aikido::constraint::Sampleable Class Referenceabstract

Constraint that may be sampled from. More...

#include <aikido/constraint/Sampleable.hpp>

Inheritance diagram for aikido::constraint::Sampleable:
aikido::constraint::CartesianProductSampleable aikido::constraint::CyclicSampleable aikido::constraint::dart::InverseKinematicsSampleable aikido::constraint::dart::TSR aikido::constraint::FiniteSampleable aikido::constraint::RejectionSampleable aikido::constraint::SequentialSampleable aikido::constraint::uniform::RBoxConstraint< N > aikido::constraint::uniform::RConstantSampler< N > aikido::constraint::uniform::SE2BoxConstraint aikido::constraint::uniform::SO2UniformSampler aikido::constraint::uniform::SO3UniformSampler

Public Member Functions

virtual ~Sampleable ()=default
 
virtual statespace::ConstStateSpacePtr getStateSpace () const =0
 Gets the StateSpace that this constraint operates on. More...
 
virtual std::unique_ptr< SampleGenerator > createSampleGenerator () const =0
 Creates a SampleGenerator for sampling from this constraint. More...
 

Detailed Description

Constraint that may be sampled from.

To draw a sample from this constraint, use createSampleGenerator() to create a SampleGenerator and call its sample() method. SampleGenerator is entirely deterministic and all generators constructed by this object will return the same sequence of samples. For that reason, you should be careful to use the same SampleGenerator when obtaining a sequence of samples to avoid re-sampling the beginning of the same deterministic sequence repeatedly.

Constructor & Destructor Documentation

◆ ~Sampleable()

virtual aikido::constraint::Sampleable::~Sampleable ( )
virtualdefault

Member Function Documentation

◆ createSampleGenerator()

virtual std::unique_ptr<SampleGenerator> aikido::constraint::Sampleable::createSampleGenerator ( ) const
pure virtual

Creates a SampleGenerator for sampling from this constraint.

Implemented in aikido::constraint::dart::TSR, aikido::constraint::uniform::RBoxConstraint< N >, aikido::constraint::uniform::SE2BoxConstraint, aikido::constraint::dart::InverseKinematicsSampleable, aikido::constraint::FiniteSampleable, aikido::constraint::RejectionSampleable, aikido::constraint::CartesianProductSampleable, aikido::constraint::uniform::RConstantSampler< N >, aikido::constraint::uniform::SO2UniformSampler, aikido::constraint::uniform::SO3UniformSampler, aikido::constraint::CyclicSampleable, and aikido::constraint::SequentialSampleable.

◆ getStateSpace()

virtual statespace::ConstStateSpacePtr aikido::constraint::Sampleable::getStateSpace ( ) const
pure virtual

Gets the StateSpace that this constraint operates on.

Implemented in aikido::constraint::dart::TSR, aikido::constraint::dart::InverseKinematicsSampleable, aikido::constraint::uniform::RBoxConstraint< N >, aikido::constraint::FiniteSampleable, aikido::constraint::uniform::SE2BoxConstraint, aikido::constraint::RejectionSampleable, aikido::constraint::CartesianProductSampleable, aikido::constraint::uniform::RConstantSampler< N >, aikido::constraint::uniform::SO2UniformSampler, aikido::constraint::uniform::SO3UniformSampler, aikido::constraint::CyclicSampleable, and aikido::constraint::SequentialSampleable.