ompl_interface::ConstrainedSampler Class Reference

#include <constrained_sampler.hpp>

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.hpp.

Constructor & Destructor Documentation

ConstrainedSampler()

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.

Member Function Documentation

getConstrainedSamplingRate()

double ompl_interface::ConstrainedSampler::getConstrainedSamplingRate

(

)

const

Definition at line 55 of file constrained_sampler.cpp.

sampleGaussian()

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.

sampleUniform()

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

override

Sample a state (uniformly)

Definition at line 83 of file constrained_sampler.cpp.

sampleUniformNear()

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.

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

• moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/detail/constrained_sampler.hpp
• moveit_planners/ompl/ompl_interface/src/detail/constrained_sampler.cpp