The MoveIt Motion Planning Framework for ROS 2.
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ompl_interface::ConstrainedSampler Class Reference

#include <constrained_sampler.h>

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Public Member Functions

 ConstrainedSampler (const ModelBasedPlanningContext *pc, constraint_samplers::ConstraintSamplerPtr cs)
 Default constructor. More...
void sampleUniform (ompl::base::State *state) override
 Sample a state (uniformly) More...
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. More...
void sampleGaussian (ompl::base::State *state, const ompl::base::State *mean, const double stdDev) override
 Sample a state using the specified Gaussian. More...
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

◆ ConstrainedSampler()

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

Default constructor.

pgThe planning group
csA 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 

Sample a state using the specified Gaussian.

Definition at line 105 of file constrained_sampler.cpp.

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◆ sampleUniform()

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

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 

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: