<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/>
<title>OMPL: ompl::base::CompoundStateSampler Class Reference</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection">
<link rel="stylesheet" href="../css/print.css" type="text/css" media="print">
<!--[if lt IE 7]>
<script type="text/javascript" src="../js/jquery/jquery.js"></script>
<script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script>
<![endif]-->
<script type="text/javaScript" src="search/search.js"></script>
<script type="text/javascript">
var _gaq = _gaq || [];
_gaq.push(['_setAccount', 'UA-9156598-2']);
_gaq.push(['_trackPageview']);
(function() {
var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
})();
</script>
</head>
<body onload='searchBox.OnSelectItem(0);'>
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search API');
--></script>
<div class="navigation" id="top">
<div class="tabs" id="ompltitle">
<ul class="tablist">
<li>The Open Motion Planning Library</li>
<li id="searchli">
<div id="MSearchBox" class="MSearchBoxInactive">
<span class="left">
<img id="MSearchSelect" src="search/mag_sel.png"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
alt=""/>
<input type="text" id="MSearchField" value="Search API" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"
onkeyup="searchBox.OnSearchFieldChange(event)"/>
</span><span class="right">
<a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
</span>
</div>
</li>
</ul>
</div>
<ul id="nav" class="dropdown">
<li class="first"><a href="index.html">Home</a></li>
<li><a href="download.html">Download</a></li>
<li><a href="documentation.html">Documentation</a></li>
<li><span class="dir">Code API</span>
<ul>
<li><a href="api_overview.html">API Overview</a></li>
<li><a href="namespaces.html">Namespaces</a></li>
<li><a href="annotated.html">Classes</a></li>
<li><a href="files.html">Files</a></li>
<li><a href="dirs.html">Directories</a></li>
</ul>
</li>
<li><span class="dir">Community</span>
<ul>
<li><a href="developers.html">Developers</a></li>
<li><a href="thirdparty.html">Contributions</a></li>
<li><a href="education.html">Education</a></li>
<li><a href="gallery.html">Gallery</a></li>
</ul>
</li>
<li><span class="dir">About</span>
<ul>
<li><a href="license.html">License</a></li>
<li><a href="citations.html">Citations</a></li>
<li><a href="acknowledgements.html">Acknowledgments</a></li>
<li><a href="contact.html">Contact Us</a></li>
</ul>
</li>
</ul>
</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="" frameborder="0"name="MSearchResults" id="MSearchResults"></iframe>
</div>
<div class="container">
<div class="span-22 push-2 first last">
<div>
<!-- Generated by Doxygen 1.7.4 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
<div id="nav-path" class="navpath">
<ul>
<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
<li class="navelem"><a class="el" href="namespaceompl_1_1base.html">base</a> </li>
<li class="navelem"><a class="el" href="classompl_1_1base_1_1CompoundStateSampler.html">CompoundStateSampler</a> </li>
</ul>
</div>
</div>
<div class="header">
<div class="summary">
<a href="#pub-methods">Public Member Functions</a> |
<a href="#pro-attribs">Protected Attributes</a> </div>
<div class="headertitle">
<div class="title">ompl::base::CompoundStateSampler Class Reference</div> </div>
</div>
<div class="contents">
<!-- doxytag: class="ompl::base::CompoundStateSampler" --><!-- doxytag: inherits="ompl::base::StateSampler" -->
<p>Definition of a compound state sampler. This is useful to construct samplers for compound states.
<a href="classompl_1_1base_1_1CompoundStateSampler.html#details">More...</a></p>
<p><code>#include <<a class="el" href="StateSampler_8h_source.html">StateSampler.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::CompoundStateSampler:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1base_1_1CompoundStateSampler__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1CompoundStateSampler_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1CompoundStateSampler_inherit__map" id="ompl_1_1base_1_1CompoundStateSampler_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1base_1_1StateSampler.html" title="Abstract definition of a state space sampler." alt="" coords="36,5,209,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_1_1CompoundStateSampler-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa643838d5e9c6f488e610286a7b576fe"></a><!-- doxytag: member="ompl::base::CompoundStateSampler::CompoundStateSampler" ref="aa643838d5e9c6f488e610286a7b576fe" args="(const StateSpace *space)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSampler.html#aa643838d5e9c6f488e610286a7b576fe">CompoundStateSampler</a> (const <a class="el" href="classompl_1_1base_1_1StateSpace.html">StateSpace</a> *space)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a03881c75bde2f245f3ac5fac83b6b16e"></a><!-- doxytag: member="ompl::base::CompoundStateSampler::~CompoundStateSampler" ref="a03881c75bde2f245f3ac5fac83b6b16e" args="(void)" -->
virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSampler.html#a03881c75bde2f245f3ac5fac83b6b16e">~CompoundStateSampler</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. This frees the added samplers as well. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1c3640b72b4eecbae07f1699e5690042"></a><!-- doxytag: member="ompl::base::CompoundStateSampler::addSampler" ref="a1c3640b72b4eecbae07f1699e5690042" args="(const StateSamplerPtr &sampler, double weightImportance)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSampler.html#a1c3640b72b4eecbae07f1699e5690042">addSampler</a> (const <a class="el" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> &sampler, double weightImportance)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compound state. When sampling near a state, the compound sampler calls in to added samplers. The distance passed to the called samplers is adjusted according to the specified importance. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a243cab437e397cc4a53cbd0712c8af29"></a><!-- doxytag: member="ompl::base::CompoundStateSampler::sampleUniform" ref="a243cab437e397cc4a53cbd0712c8af29" args="(State *state)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSampler.html#a243cab437e397cc4a53cbd0712c8af29">sampleUniform</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a state. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a71d1f0f36394f2617860f65344b63e32"></a><!-- doxytag: member="ompl::base::CompoundStateSampler::sampleUniformNear" ref="a71d1f0f36394f2617860f65344b63e32" args="(State *state, const State *near, const double distance)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSampler.html#a71d1f0f36394f2617860f65344b63e32">sampleUniformNear</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *near, const double distance)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a state near another, within specified distance. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8e55114a5bcaccc7d347d6d60ca4cc8b"></a><!-- doxytag: member="ompl::base::CompoundStateSampler::sampleGaussian" ref="a8e55114a5bcaccc7d347d6d60ca4cc8b" args="(State *state, const State *mean, const double stdDev)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSampler.html#a8e55114a5bcaccc7d347d6d60ca4cc8b">sampleGaussian</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state, const <a class="el" href="classompl_1_1base_1_1State.html">State</a> *mean, const double stdDev)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a state using a Gaussian distribution with given <em>mean</em> and standard deviation (<em>stdDev</em>) <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a710e5cfa1fd4e9e72b82978245b8ac7a"></a><!-- doxytag: member="ompl::base::CompoundStateSampler::samplers_" ref="a710e5cfa1fd4e9e72b82978245b8ac7a" args="" -->
std::vector< <a class="el" href="classompl_1_1base_1_1StateSamplerPtr.html">StateSamplerPtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSampler.html#a710e5cfa1fd4e9e72b82978245b8ac7a">samplers_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The samplers that are composed. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1548ec65daceafd54f928ca163a93780"></a><!-- doxytag: member="ompl::base::CompoundStateSampler::weightImportance_" ref="a1548ec65daceafd54f928ca163a93780" args="" -->
std::vector< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1CompoundStateSampler.html#a1548ec65daceafd54f928ca163a93780">weightImportance_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The weight of each sampler (used when sampling near a state) <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Definition of a compound state sampler. This is useful to construct samplers for compound states. </p>
<p>Definition at line <a class="el" href="StateSampler_8h_source.html#l00092">92</a> of file <a class="el" href="StateSampler_8h_source.html">StateSampler.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/<a class="el" href="StateSampler_8h_source.html">StateSampler.h</a></li>
<li>src/ompl/base/src/<a class="el" href="StateSampler_8cpp_source.html">StateSampler.cpp</a></li>
</ul>
</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 23:04:42 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>
distrib
>
Fedora
>
14
>
x86_64
>
media
>
updates
>
by-pkgid
>
e7618febbb9cbed15bb79e326774c050
>
files
>
369
