<!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::StateSampler Class Reference</title> <meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. 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--></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_1StateSampler.html">StateSampler</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::StateSampler Class Reference</div> </div> </div> <div class="contents"> <!-- doxytag: class="ompl::base::StateSampler" --> <p>Abstract definition of a state space sampler. <a href="classompl_1_1base_1_1StateSampler.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::StateSampler:</div> <div class="dyncontent"> <div class="center"><img src="classompl_1_1base_1_1StateSampler__inherit__graph.png" border="0" usemap="#ompl_1_1base_1_1StateSampler_inherit__map" alt="Inheritance graph"/></div> <map name="ompl_1_1base_1_1StateSampler_inherit__map" id="ompl_1_1base_1_1StateSampler_inherit__map"> <area shape="rect" id="node3" href="classompl_1_1base_1_1CompoundStateSampler.html" title="Definition of a compound state sampler. This is useful to construct samplers for compound states..." alt="" coords="229,5,464,35"/><area shape="rect" id="node5" href="classompl_1_1base_1_1DiscreteStateSampler.html" title="State space sampler for discrete states." alt="" coords="236,59,457,88"/><area shape="rect" id="node7" href="classompl_1_1base_1_1RealVectorStateSampler.html" title="State sampler for the Rn state space." alt="" coords="228,112,465,141"/><area shape="rect" id="node9" href="classompl_1_1base_1_1SO2StateSampler.html" title="State space sampler for SO(2)" alt="" coords="248,165,445,195"/><area shape="rect" id="node11" href="classompl_1_1base_1_1SO3StateSampler.html" title="State space sampler for SO(3), using quaternion representation." alt="" coords="248,219,445,248"/><area shape="rect" id="node13" href="classompl_1_1base_1_1TimeStateSampler.html" title="State space sampler for time." alt="" coords="245,272,448,301"/></map> <center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div> <p><a href="classompl_1_1base_1_1StateSampler-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="a1b7e6623b9ee8f4dc16b88b5a2c62248"></a><!-- doxytag: member="ompl::base::StateSampler::StateSampler" ref="a1b7e6623b9ee8f4dc16b88b5a2c62248" args="(const StateSpace *space)" -->  </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSampler.html#a1b7e6623b9ee8f4dc16b88b5a2c62248">StateSampler</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="ae34c29e2eaefc49bab4dee255a782b71"></a><!-- doxytag: member="ompl::base::StateSampler::sampleUniform" ref="ae34c29e2eaefc49bab4dee255a782b71" args="(State *state)=0" --> virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSampler.html#ae34c29e2eaefc49bab4dee255a782b71">sampleUniform</a> (<a class="el" href="classompl_1_1base_1_1State.html">State</a> *state)=0</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="af9cae7cc050e0a5e71fcadc9c99bb8ea"></a><!-- doxytag: member="ompl::base::StateSampler::sampleUniformNear" ref="af9cae7cc050e0a5e71fcadc9c99bb8ea" args="(State *state, const State *near, const double distance)=0" --> virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSampler.html#af9cae7cc050e0a5e71fcadc9c99bb8ea">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)=0</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="ad15c42c23a7d515421a293f098c4f0bf"></a><!-- doxytag: member="ompl::base::StateSampler::sampleGaussian" ref="ad15c42c23a7d515421a293f098c4f0bf" args="(State *state, const State *mean, const double stdDev)=0" --> virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSampler.html#ad15c42c23a7d515421a293f098c4f0bf">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)=0</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="ade7594512889b577995b3479c71f3b6d"></a><!-- doxytag: member="ompl::base::StateSampler::space_" ref="ade7594512889b577995b3479c71f3b6d" args="" --> const <a class="el" href="classompl_1_1base_1_1StateSpace.html">StateSpace</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSampler.html#ade7594512889b577995b3479c71f3b6d">space_</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">The state space this sampler samples. <br/></td></tr> <tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad8b2f106c42eaa4788bb6914cd5371fb"></a><!-- doxytag: member="ompl::base::StateSampler::rng_" ref="ad8b2f106c42eaa4788bb6914cd5371fb" args="" --> <a class="el" href="classompl_1_1RNG.html">RNG</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1base_1_1StateSampler.html#ad8b2f106c42eaa4788bb6914cd5371fb">rng_</a></td></tr> <tr><td class="mdescLeft"> </td><td class="mdescRight">An instance of a random number generator. <br/></td></tr> </table> <hr/><a name="details" id="details"></a><h2>Detailed Description</h2> <div class="textblock"><p>Abstract definition of a state space sampler. </p> <p>Definition at line <a class="el" href="StateSampler_8h_source.html#l00060">60</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 file:<ul> <li>src/ompl/base/<a class="el" href="StateSampler_8h_source.html">StateSampler.h</a></li> </ul> </div> <!-- window showing the filter options --> <div id="MSearchSelectWindow" onmouseover="return searchBox.OnSearchSelectShow()" onmouseout="return searchBox.OnSearchSelectHide()" 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