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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 
43 namespace ompl
44 {
45  namespace base
46  {
47 
50  {
51  public:
52 
55 
56  virtual ~GaussianValidStateSampler(void)
57  {
58  }
59 
60  virtual bool sample(State *state);
61  virtual bool sampleNear(State *state, const State *near, const double distance);
62 
64  double getStdDev(void) const
65  {
66  return stddev_;
67  }
68 
70  void setStdDev(double stddev)
71  {
72  stddev_ = stddev;
73  }
74 
75  protected:
76 
79 
81  double stddev_;
82  };
83 
84  }
85 }
86 
87 
88 #endif
virtual bool sample(State *state)
Sample a state. Return false in case of failure.
A boost shared pointer wrapper for ompl::base::StateSampler.
StateSamplerPtr sampler_
The sampler to build upon.
double getStdDev(void) const
Get the standard deviation used when sampling.
double stddev_
The standard deviation to use in the sampling process.
Generate valid samples using the Gaussian sampling strategy.
Abstract definition of a state sampler.
virtual bool sampleNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance. Return false, in case of failure.
The base class for space information. This contains all the information about the space planning is d...
Definition of an abstract state.
Definition: State.h:50
GaussianValidStateSampler(const SpaceInformation *si)
Constructor.
void setStdDev(double stddev)
Set the standard deviation to use when sampling.