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IN NO EVENT SHALL THE</span> <a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span> <a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span> <a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span> <a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span> <a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span> <a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span> <a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span> <a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span> <a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span> <a name="l00034"></a>00034 <a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span> <a name="l00036"></a>00036 <a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/base/StateSampler.h"</span> <a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/base/StateSpace.h"</span> <a name="l00039"></a>00039 <a name="l00040"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a1c3640b72b4eecbae07f1699e5690042">00040</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a1c3640b72b4eecbae07f1699e5690042" title="Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compoun...">ompl::base::CompoundStateSampler::addSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">StateSamplerPtr</a> &sampler, <span class="keywordtype">double</span> weightImportance) <a name="l00041"></a>00041 { <a name="l00042"></a>00042 <a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a710e5cfa1fd4e9e72b82978245b8ac7a" title="The samplers that are composed.">samplers_</a>.push_back(sampler); <a name="l00043"></a>00043 <a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a1548ec65daceafd54f928ca163a93780" title="The weight of each sampler (used when sampling near a state)">weightImportance_</a>.push_back(weightImportance); <a name="l00044"></a>00044 samplerCount_ = <a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a710e5cfa1fd4e9e72b82978245b8ac7a" title="The samplers that are composed.">samplers_</a>.size(); <a name="l00045"></a>00045 } <a name="l00046"></a>00046 <a name="l00047"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a243cab437e397cc4a53cbd0712c8af29">00047</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a243cab437e397cc4a53cbd0712c8af29" title="Sample a state.">ompl::base::CompoundStateSampler::sampleUniform</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state) <a name="l00048"></a>00048 { <a name="l00049"></a>00049 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> **comps = state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state.">CompoundState</a>>()->components; <a name="l00050"></a>00050 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i) <a name="l00051"></a>00051 samplers_[i]->sampleUniform(comps[i]); <a name="l00052"></a>00052 } <a name="l00053"></a>00053 <a name="l00054"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a71d1f0f36394f2617860f65344b63e32">00054</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a71d1f0f36394f2617860f65344b63e32" title="Sample a state near another, within specified distance.">ompl::base::CompoundStateSampler::sampleUniformNear</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *near, <span class="keyword">const</span> <span class="keywordtype">double</span> distance) <a name="l00055"></a>00055 { <a name="l00056"></a>00056 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> **comps = state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state.">CompoundState</a>>()->components; <a name="l00057"></a>00057 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> **nearComps = near-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state.">CompoundState</a>>()->components; <a name="l00058"></a>00058 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i) <a name="l00059"></a>00059 samplers_[i]->sampleUniformNear(comps[i], nearComps[i], weightImportance_[i] * distance); <a name="l00060"></a>00060 } <a name="l00061"></a>00061 <a name="l00062"></a><a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a8e55114a5bcaccc7d347d6d60ca4cc8b">00062</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSampler.html#a8e55114a5bcaccc7d347d6d60ca4cc8b" title="Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev)...">ompl::base::CompoundStateSampler::sampleGaussian</a>(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> *mean, <span class="keyword">const</span> <span class="keywordtype">double</span> stdDev) <a name="l00063"></a>00063 { <a name="l00064"></a>00064 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> **comps = state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state.">CompoundState</a>>()->components; <a name="l00065"></a>00065 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> **meanComps = mean-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundState.html" title="Definition of a compound state.">CompoundState</a>>()->components; <a name="l00066"></a>00066 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i) <a name="l00067"></a>00067 samplers_[i]->sampleGaussian(comps[i], meanComps[i], stdDev); <a name="l00068"></a>00068 } </pre></div></div> </div> <!-- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" onkeydown="return searchBox.OnSearchSelectKey(event)"> <a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </span>Enumerator</a></div> <!-- iframe showing the search results (closed by default) --> <div id="MSearchResultsWindow"> <iframe src="javascript:void(0)" frameborder="0" name="MSearchResults" id="MSearchResults"> </iframe> </div> </div> <div class="footer span-22 push-2 last"> <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> • <a href="http://www.cs.rice.edu">Department of Computer Science</a> • <a href="http://www.rice.edu">Rice University</a><br> <div class="gray">Generated on Sun Oct 9 2011 23:04:39 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div> </div> </div> </body> </html>