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SphereStateSpace.cpp
double gaussian(double mean, double stddev)
Generate a random real using a normal distribution with given mean and variance.
Definition RandomNumbers.h:99
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition RandomNumbers.h:73
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition StateSpace.h:577
void allocStateComponents(CompoundState *state) const
Allocate the state components. Called by allocState(). Usually called by derived state spaces.
Definition StateSpace.cpp:1147
void addSubspace(const StateSpacePtr &component, double weight)
Adds a new state space as part of the compound state space. For computing distances within the compou...
Definition StateSpace.cpp:871
void lock()
Lock this state space. This means no further spaces can be added as components. This function can be ...
Definition StateSpace.cpp:1163
A state space representing Rn. The distance function is the L2 norm.
Definition RealVectorStateSpace.h:74
void sampleGaussian(State *state, const State *mean, double stdDev) override
Sample a state using a Gaussian distribution with given mean and standard deviation (stdDev).
Definition SphereStateSpace.cpp:70
void sampleUniformNear(State *state, const State *near, double distance) override
Sample a state near another, within a neighborhood controlled by a distance parameter.
Definition SphereStateSpace.cpp:61
virtual double getMeasure() const override
Get a measure of the space (this can be thought of as a generalization of volume)
Definition SphereStateSpace.cpp:127
virtual double distance(const State *state1, const State *state2) const override
Computes distance between two states. This function satisfies the properties of a metric if isMetricS...
Definition SphereStateSpace.cpp:98
virtual State * allocState() const override
Allocate a state that can store a point in the described space.
Definition SphereStateSpace.cpp:132
virtual StateSamplerPtr allocDefaultStateSampler() const override
Allocate an instance of the default uniform state sampler for this space.
Definition SphereStateSpace.cpp:79
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition StateSpace.h:71
virtual void enforceBounds(State *state) const =0
Bring the state within the bounds of the state space. For unbounded spaces this function can be a no-...
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55