aikido::constraint::uniform::SO3UniformSampler Class Reference
Uniform sampler for SO3States. More...
#include <aikido/constraint/uniform/SO3UniformSampler.hpp>
Inheritance diagram for aikido::constraint::uniform::SO3UniformSampler:
Public Member Functions | |
| SO3UniformSampler (std::shared_ptr< const statespace::SO3 > _space, std::unique_ptr< common::RNG > _rng) | |
| Constructor. More... | |
| statespace::ConstStateSpacePtr | getStateSpace () const override |
| Gets the StateSpace that this constraint operates on. More... | |
| std::unique_ptr< constraint::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 | |
| std::shared_ptr< const statespace::SO3 > | mSpace |
| std::unique_ptr< common::RNG > | mRng |
Detailed Description
Uniform sampler for SO3States.
Its SampleGenerators will sample uniformly from SO3, and the sequence of samples is deterministically generated given a random number generator seed.
Constructor & Destructor Documentation
◆ SO3UniformSampler()
| aikido::constraint::uniform::SO3UniformSampler::SO3UniformSampler | ( | std::shared_ptr< const statespace::SO3 > | _space, |
| std::unique_ptr< common::RNG > | _rng | ||
| ) |
Constructor.
- Parameters
-
_space SO3 in which this constraint operates. _rng Random number generator which determines the sampling sequence of this constraint's SampleGenerators.
Member Function Documentation
◆ createSampleGenerator()
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overridevirtual |
Creates a SampleGenerator for sampling from this constraint.
Implements aikido::constraint::Sampleable.
◆ getStateSpace()
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overridevirtual |
Gets the StateSpace that this constraint operates on.
Implements aikido::constraint::Sampleable.
Member Data Documentation
◆ mRng
|
private |
◆ mSpace
|
private |
