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<a href="#pub-methods">Public Member Functions</a> </div>
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<div class="title">ompl::base::SO3StateSampler Class Reference</div> </div>
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<!-- doxytag: class="ompl::base::SO3StateSampler" --><!-- doxytag: inherits="ompl::base::StateSampler" -->
<p><a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> space sampler for SO(3), using quaternion representation.
<a href="classompl_1_1base_1_1SO3StateSampler.html#details">More...</a></p>
<p><code>#include <<a class="el" href="SO3StateSpace_8h_source.html">SO3StateSpace.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::base::SO3StateSampler:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1base_1_1SO3StateSampler__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1SO3StateSampler_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1base_1_1SO3StateSampler_inherit__map" id="ompl_1_1base_1_1SO3StateSampler_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1base_1_1StateSampler.html" title="Abstract definition of a state space sampler." alt="" coords="17,5,191,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1base_1_1SO3StateSampler-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="a64e5298f5b710e1fb03428339c2a0ee2"></a><!-- doxytag: member="ompl::base::SO3StateSampler::SO3StateSampler" ref="a64e5298f5b710e1fb03428339c2a0ee2" args="(const StateSpace *space)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO3StateSampler.html#a64e5298f5b710e1fb03428339c2a0ee2">SO3StateSampler</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="a11673448fc45166c7535b87a5d2c4d40"></a><!-- doxytag: member="ompl::base::SO3StateSampler::sampleUniform" ref="a11673448fc45166c7535b87a5d2c4d40" args="(State *state)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO3StateSampler.html#a11673448fc45166c7535b87a5d2c4d40">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">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO3StateSampler.html#ade4097ad565c31a70c83331f2243fb13">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. <a href="#ade4097ad565c31a70c83331f2243fb13"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1SO3StateSampler.html#ad73f1f60597f294443fdd2f4af7dc9fe">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>) <a href="#ad73f1f60597f294443fdd2f4af7dc9fe"></a><br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p><a class="el" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a> space sampler for SO(3), using quaternion representation. </p>
<p>Definition at line <a class="el" href="SO3StateSpace_8h_source.html#l00048">48</a> of file <a class="el" href="SO3StateSpace_8h_source.html">SO3StateSpace.h</a>.</p>
</div><hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ad73f1f60597f294443fdd2f4af7dc9fe"></a><!-- doxytag: member="ompl::base::SO3StateSampler::sampleGaussian" ref="ad73f1f60597f294443fdd2f4af7dc9fe" args="(State *state, const State *mean, const double stdDev)" -->
<div class="memitem">
<div class="memproto">
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<td class="memname">void ompl::base::SO3StateSampler::sampleGaussian </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>state</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>mean</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>stdDev</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Sample a state using a Gaussian distribution with given <em>mean</em> and standard deviation (<em>stdDev</em>) </p>
<p><dl class="todo"><dt><b><a class="el" href="todo.html#_todo000003">Todo:</a></b></dt><dd>How do we sample quaternions using a Gaussian distribution ? </dd></dl>
</p>
<p>Implements <a class="el" href="classompl_1_1base_1_1StateSampler.html#ad15c42c23a7d515421a293f098c4f0bf">ompl::base::StateSampler</a>.</p>
<p>Definition at line <a class="el" href="SO3StateSpace_8cpp_source.html#l00078">78</a> of file <a class="el" href="SO3StateSpace_8cpp_source.html">SO3StateSpace.cpp</a>.</p>
</div>
</div>
<a class="anchor" id="ade4097ad565c31a70c83331f2243fb13"></a><!-- doxytag: member="ompl::base::SO3StateSampler::sampleUniformNear" ref="ade4097ad565c31a70c83331f2243fb13" args="(State *state, const State *near, const double distance)" -->
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">void ompl::base::SO3StateSampler::sampleUniformNear </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>state</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classompl_1_1base_1_1State.html">State</a> * </td>
<td class="paramname"><em>near</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const double </td>
<td class="paramname"><em>distance</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [virtual]</code></td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Sample a state near another, within specified distance. </p>
<p><dl class="todo"><dt><b><a class="el" href="todo.html#_todo000002">Todo:</a></b></dt><dd>How do we sample near a quaternion ? </dd></dl>
</p>
<p>Implements <a class="el" href="classompl_1_1base_1_1StateSampler.html#af9cae7cc050e0a5e71fcadc9c99bb8ea">ompl::base::StateSampler</a>.</p>
<p>Definition at line <a class="el" href="SO3StateSpace_8cpp_source.html#l00072">72</a> of file <a class="el" href="SO3StateSpace_8cpp_source.html">SO3StateSpace.cpp</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/base/spaces/<a class="el" href="SO3StateSpace_8h_source.html">SO3StateSpace.h</a></li>
<li>src/ompl/base/spaces/src/<a class="el" href="SO3StateSpace_8cpp_source.html">SO3StateSpace.cpp</a></li>
</ul>
</div>
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<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>
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