Inheritance diagram for ompl_interface::ConstrainedSampler:

Collaboration diagram for ompl_interface::ConstrainedSampler:

Public Member Functions
	ConstrainedSampler (const ModelBasedPlanningContext *pc, constraint_samplers::ConstraintSamplerPtr cs)
	Default constructor.

void	sampleUniform (ompl::base::State *state) override
	Sample a state (uniformly)

void	sampleUniformNear (ompl::base::State state, const ompl::base::State near, const double distance) override
	Sample a state (uniformly) within a certain distance of another state.

void	sampleGaussian (ompl::base::State state, const ompl::base::State mean, const double stdDev) override
	Sample a state using the specified Gaussian.

double	getConstrainedSamplingRate () const

Detailed Description

This class defines a sampler that tries to find a sample that satisfies the constraints

Definition at line 48 of file constrained_sampler.h.

Constructor & Destructor Documentation

ompl_interface::ConstrainedSampler::ConstrainedSampler	(	const ModelBasedPlanningContext *	pc,
		constraint_samplers::ConstraintSamplerPtr	cs
	)

Default constructor.

Parameters

pg	The planning group
cs	A pointer to a kinematic constraint sampler

Definition at line 42 of file constrained_sampler.cpp.

double ompl_interface::ConstrainedSampler::getConstrainedSamplingRate ( ) const

Definition at line 55 of file constrained_sampler.cpp.

void ompl_interface::ConstrainedSampler::sampleGaussian	(	ompl::base::State *	state,
		const ompl::base::State *	mean,
		const double	stdDev
	)

override

Sample a state using the specified Gaussian.

Definition at line 105 of file constrained_sampler.cpp.

void ompl_interface::ConstrainedSampler::sampleUniform ( ompl::base::State * state )

override

Sample a state (uniformly)

Definition at line 83 of file constrained_sampler.cpp.

void ompl_interface::ConstrainedSampler::sampleUniformNear	(	ompl::base::State *	state,
		const ompl::base::State *	near,
		const double	distance
	)

override

Sample a state (uniformly) within a certain distance of another state.

Definition at line 89 of file constrained_sampler.cpp.

The documentation for this class was generated from the following files:

moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.h
moveit_planners/ompl/ompl_interface/src/detail/constrained_sampler.cpp