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PrecomputedStateSampler.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/PrecomputedStateSampler.h"
38#include "ompl/base/StateSpace.h"
39#include "ompl/util/Exception.h"
40
42 const std::vector<const State *> &states)
43 : StateSampler(space), states_(states)
44{
45 if (states_.empty())
46 throw Exception("Empty set of states to sample from was specified");
48 maxStateIndex_ = states_.size() - 1;
49}
50
52 const std::vector<const State *> &states,
53 std::size_t minStateIndex, std::size_t maxStateIndex)
54 : StateSampler(space), states_(states), minStateIndex_(minStateIndex), maxStateIndex_(maxStateIndex)
55{
56 if (states_.empty())
57 throw Exception("Empty set of states to sample from was specified");
58 if (minStateIndex > maxStateIndex)
59 throw Exception("Minimum state index cannot be larger than maximum state index");
60 if (maxStateIndex >= states_.size())
61 throw Exception("Index range out of bounds");
62}
63
65{
66 space_->copyState(state, states_[rng_.uniformInt(minStateIndex_, maxStateIndex_)]);
67}
68
69void ompl::base::PrecomputedStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
70{
71 int index = rng_.uniformInt(minStateIndex_, maxStateIndex_);
72 double dist = space_->distance(near, states_[index]);
73 if (dist > distance)
74 space_->interpolate(near, states_[index], distance / dist, state);
75 else
76 space_->copyState(state, states_[index]);
77}
78
79void ompl::base::PrecomputedStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
80{
81 sampleUniformNear(state, mean, rng_.gaussian(0.0, stdDev));
82}
The exception type for ompl.
Definition Exception.h:47
std::size_t minStateIndex_
The minimum index to start sampling at.
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
std::size_t maxStateIndex_
The maximum index to stop sampling at.
void sampleUniform(State *state) override
Sample a state.
PrecomputedStateSampler(const StateSpace *space, const std::vector< const State * > &states)
Constructor. Takes the state space to be sampled (space) and the set of states to draw samples from (...
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
const std::vector< const State * > & states_
The states to sample from.
Abstract definition of a state space sampler.
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition StateSpace.h:71
Definition of an abstract state.
Definition State.h:50