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GaussianValidStateSampler.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_SAMPLERS_GAUSSIAN_VALID_STATE_SAMPLER_
38#define OMPL_BASE_SAMPLERS_GAUSSIAN_VALID_STATE_SAMPLER_
39
40#include "ompl/base/ValidStateSampler.h"
41#include "ompl/base/StateSampler.h"
42
43namespace ompl
44{
45 namespace base
46 {
49 {
50 public:
53
54 ~GaussianValidStateSampler() override = default;
55
56 bool sample(State *state) override;
57 bool sampleNear(State *state, const State *near, double distance) override;
58
60 double getStdDev() const
61 {
62 return stddev_;
63 }
64
66 void setStdDev(double stddev)
67 {
68 stddev_ = stddev;
69 }
70
71 protected:
74
76 double stddev_;
77 };
78 }
79}
80
81#endif
Generate valid samples using the Gaussian sampling strategy.
StateSamplerPtr sampler_
The sampler to build upon.
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
double stddev_
The standard deviation to use in the sampling process.
bool sample(State *state) override
Sample a state. Return false in case of failure.
void setStdDev(double stddev)
Set the standard deviation to use when sampling.
GaussianValidStateSampler(const SpaceInformation *si)
Constructor.
double getStdDev() const
Get the standard deviation used when sampling.
The base class for space information. This contains all the information about the space planning is d...
A shared pointer wrapper for ompl::base::StateSampler.
Definition of an abstract state.
Definition State.h:50
Abstract definition of a state sampler.
Main namespace. Contains everything in this library.