Construct a sampler that samples only within a subspace of the space. More...
#include <StateSampler.h>
Public Member Functions | |
| SubspaceStateSampler (const StateSpace *space, const StateSpace *subspace, double weight) | |
| Construct a sampler for space but only sample components common to subspace. Use weight as a multiplicative factor for distance and stdDev in the sampleUniformNear() and sampleGaussian() functions. | |
| virtual void | sampleUniform (State *state) |
| Sample a state. | |
| virtual void | sampleUniformNear (State *state, const State *near, const double distance) |
| Sample a state near another, within specified distance. | |
| virtual void | sampleGaussian (State *state, const State *mean, const double stdDev) |
| Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev) | |
Protected Attributes | |
| const StateSpace * | subspace_ |
| The subspace to sample. | |
| StateSamplerPtr | subspaceSampler_ |
| The sampler for the subspace. | |
| double | weight_ |
| The weigth factor to multiply distance and stdDev when sampling in the vicinity of a state. | |
| std::vector< std::string > | subspaces_ |
| The names of common subspaces between space_ and subspace_; these are the ones copied after sampling a state. | |
Construct a sampler that samples only within a subspace of the space.
Definition at line 142 of file StateSampler.h.
