aikido::constraint::SampleGenerator Class Reference

Generator for drawing samples from a Sampleable. More...

#include <aikido/constraint/Sampleable.hpp>

Inheritance diagram for aikido::constraint::SampleGenerator:

Public Member Functions
virtual	~SampleGenerator ()=default
virtual statespace::ConstStateSpacePtr	getStateSpace () const =0
	Gets the StateSpace that this SampleGenerator samples from. More...
virtual bool	sample (statespace::StateSpace::State *_state)=0
	Returns one sample from this constraint; returns true if succeeded. More...
virtual int	getNumSamples () const =0
	Gets an upper bound on the number of samples remaining or NO_LIMIT. More...
virtual bool	canSample () const =0
	Returns whether getNumSamples() > 0. More...

Static Public Attributes
static constexpr int	NO_LIMIT = std::numeric_limits<int>::max()
	Value used to represent a potentially infinite number of samples. More...

Detailed Description

Generator for drawing samples from a Sampleable.

This object may represent both finite and inifinite sets of samples, as indicated by the return value of getNumSamples(). Note that this value provides only an upper bound on the number of samples available: sample() may transiently fail, i.e. return false, at any point before then.

Constructor & Destructor Documentation

~SampleGenerator()

virtual aikido::constraint::SampleGenerator::~SampleGenerator ( )

virtualdefault

Member Function Documentation

canSample()

virtual bool aikido::constraint::SampleGenerator::canSample ( ) const

pure virtual

Returns whether getNumSamples() > 0.

Implemented in aikido::constraint::uniform::RnBoxConstraintSampleGenerator< N >.

getNumSamples()

virtual int aikido::constraint::SampleGenerator::getNumSamples ( ) const

pure virtual

Gets an upper bound on the number of samples remaining or NO_LIMIT.

Implemented in aikido::constraint::uniform::RnBoxConstraintSampleGenerator< N >.

getStateSpace()

virtual statespace::ConstStateSpacePtr aikido::constraint::SampleGenerator::getStateSpace ( ) const

pure virtual

Gets the StateSpace that this SampleGenerator samples from.

Implemented in aikido::constraint::uniform::RnBoxConstraintSampleGenerator< N >.

sample()

virtual bool aikido::constraint::SampleGenerator::sample ( statespace::StateSpace::State *  _state )

pure virtual

Returns one sample from this constraint; returns true if succeeded.

Implemented in aikido::constraint::uniform::RnBoxConstraintSampleGenerator< N >.

Member Data Documentation

NO_LIMIT

constexpr int aikido::constraint::SampleGenerator::NO_LIMIT = std::numeric_limits<int>::max()

staticconstexpr

Value used to represent a potentially infinite number of samples.