base::CompoundStateSampler Class Reference

Definition of a compound state sampler. This is useful to construct samplers for compound states. More...

Inheritance diagram for base::CompoundStateSampler:

Public Member Functions
	CompoundStateSampler (const StateSpace *space)
	Constructor.
virtual	~CompoundStateSampler ()
	Destructor. This frees the added samplers as well.
virtual void	addSampler (const StateSamplerPtr &sampler, double weightImportance)
	Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compound state. When sampling near a state, the compound sampler calls in to added samplers. The distance passed to the called samplers is adjusted according to the specified importance.
virtual void	sampleUniform (State *state)
	Sample a state.
virtual void	sampleUniformNear (State state, const State near, const double distance)
	Call sampleUniformNear for each of the subspace states with distance scaled by the corresponding subspace weight.
virtual void	sampleGaussian (State state, const State mean, const double stdDev)
	Call sampleGaussian for each of the subspace states with stdDev scaled by the corresponding subspace weight.
Protected Attributes
std::vector< StateSamplerPtr >	samplers_
	The samplers that are composed.
std::vector< double >	weightImportance_
	The weight of each sampler (used when sampling near a state)

Detailed Description

Definition of a compound state sampler. This is useful to construct samplers for compound states.

Definition at line 98 of file StateSampler.h.

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