37 #include "ompl/base/StateSampler.h"
const std::vector< const State * > & states_
The states to sample from.
virtual void sampleUniformNear(State *state, const State *near, const double distance)
Sample a state near another, within specified distance.
State space sampler for discrete states.
std::size_t minStateIndex_
The minimum index to start sampling at.
std::size_t maxStateIndex_
The maximum index to stop sampling at.
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition of an abstract state.
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) ...
Abstract definition of a state space sampler.
virtual void sampleUniform(State *state)
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 (...