Sampler for robowflex::darts::StateSpace. More...

#include <space.h>

Inheritance diagram for robowflex::darts::StateSpace::StateSampler:

Public Member Functions
	StateSampler (const StateSpace *space)
	Constructor. More...

OMPL StateSampler Methods
void	sampleUniform (ompl::base::State *state) override

void	sampleUniformNear (ompl::base::State state, const ompl::base::State near, double distance) override

Private Attributes
const std::vector< JointPtr > &	joints_
	Joints to sample from. More...

Detailed Description

Sampler for robowflex::darts::StateSpace.

Definition at line 45 of file space.h.

Constructor & Destructor Documentation

◆ StateSampler()

StateSpace::StateSampler::StateSampler ( const StateSpace * space )

Constructor.

Parameters

[in] space Space to sample.

StateSpace::StateSampler

Definition at line 20 of file space.cpp.

   : ompl::base::RealVectorStateSampler(space), joints_(space->joints_)
 {
 }

Member Function Documentation

◆ sampleUniform()

void StateSpace::StateSampler::sampleUniform ( ompl::base::State * state )

override

Definition at line 25 of file space.cpp.

 {
     auto *as = state->as<StateType>();
  
     for (const auto &joint : joints_)
         joint->sample(joint->getSpaceVars(as->data));
 }

◆ sampleUniformNear()

void StateSpace::StateSampler::sampleUniformNear	(	ompl::base::State *	state,
		const ompl::base::State *	near,
		double	distance
	)

override

Definition at line 33 of file space.cpp.

 {
     auto *as = state->as<StateType>();
     const auto *an = near->as<StateType>();
  
     for (const auto &joint : joints_)
         joint->sampleNear(joint->getSpaceVars(as->data), joint->getSpaceVarsConst(an->data), distance);
 }

Member Data Documentation

◆ joints_

const std::vector<JointPtr>& robowflex::darts::StateSpace::StateSampler::joints_

private

Joints to sample from.

Definition at line 63 of file space.h.

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

Public Member Functions

Private Attributes