Gaussian-distribution based sampling. More...

#include <GaussianSampler.h>

Inheritance diagram for GaussianSampler:

Collaboration diagram for GaussianSampler:

Public Member Functions
	GaussianSampler (string _vcLabel="", string _dmLabel="", double _d=0.5, bool _useBoundary=false)

	GaussianSampler (XMLNode &_node)

void	ParseXML (XMLNode &_node)

virtual void	Print (ostream &_os) const

virtual bool	Sampler (Cfg &_cfg, const Boundary *const _boundary, vector< Cfg > &_result, vector< Cfg > &_collision)

void	ChangeGaussianParams (double newMean, double newStd)

void	ReturnNewSamplesOnly (bool setting)

Public Member Functions inherited from SamplerMethod
	SamplerMethod ()=default

	SamplerMethod (XMLNode &_node)

virtual	~SamplerMethod ()=0

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid, OutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary const _robotBoundary, const Boundary const _eeBoundary, OutputIterator _valid, OutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary const _robotBoundary, const Boundary const _eeBoundary, OutputIterator _valid)

virtual void	Filter (InputIterator _first, InputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid, OutputIterator _invalid)

void	Filter (InputIterator _first, InputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, OutputIterator _valid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const BoundaryMap &_boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

virtual void	Sample (size_t _numNodes, size_t _maxAttempts, const BoundaryMap &_boundary, GroupOutputIterator _valid)

virtual void	Filter (GroupInputIterator _first, GroupInputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid, GroupOutputIterator _invalid)

void	Filter (GroupInputIterator _first, GroupInputIterator _last, size_t _maxAttempts, const Boundary *const _boundary, GroupOutputIterator _valid)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. More...

Public Member Functions inherited from MPBaseObject
	MPBaseObject (const std::string &_label="", const std::string &_name="", bool _debug=false)

	MPBaseObject (XMLNode &_node)

virtual	~MPBaseObject ()

virtual void	Initialize ()

const std::string &	GetName () const
	Get the class name for this object. More...

const std::string &	GetLabel () const
	Get the unique label for this object. More...

std::string	GetNameAndLabel () const
	Get the unique string identifier for this object "m_name::m_label". More...

void	SetLabel (const std::string &)
	Set the unique label for this object. More...

void	SetMPLibrary (MPLibrary *) noexcept
	Set the owning MPLibrary. More...

MPLibrary *	GetMPLibrary () const noexcept
	Get the owning MPLibrary. More...

bool	IsRunning () const noexcept
	Check the library's running flag. More...

MPProblem *	GetMPProblem () const noexcept
	Get the library's current MPProblem. More...

Environment *	GetEnvironment () const noexcept
	Get the current environment. More...

MPTask *	GetTask () const noexcept
	Get the current task. More...

GroupTask *	GetGroupTask () const noexcept
	Get the current group task. More...

MPSolutionType *	GetMPSolution () const noexcept

RoadmapType *	GetRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current free-space roadmap. More...

GroupRoadmapType *	GetGroupRoadmap (RobotGroup *const _g=nullptr) const noexcept
	Get the current free-space group roadmap. More...

RoadmapType *	GetBlockRoadmap (Robot *const _r=nullptr) const noexcept
	Get the current obstacle-space roadmap. More...

Path *	GetPath (Robot *const _r=nullptr) const noexcept

GroupPath *	GetGroupPath (RobotGroup *const _g=nullptr) const noexcept
	Get the current best group path. More...

StatClass *	GetStatClass () const noexcept
	Get the current StatClass. More...

LocalObstacleMap *	GetLocalObstacleMap () const noexcept
	Get the local obstacle map. More...

Additional Inherited Members
Public Types inherited from SamplerMethod
typedef MPBaseObject::GroupCfgType	GroupCfgType

typedef std::vector< Cfg >::iterator	InputIterator

typedef std::back_insert_iterator< std::vector< Cfg > >	OutputIterator

typedef std::vector< GroupCfgType >::iterator	GroupInputIterator

typedef std::back_insert_iterator< std::vector< GroupCfgType > >	GroupOutputIterator

typedef std::map< Robot , const Boundary >	BoundaryMap
	A map from robots to sampling boundaries. More...

Public Types inherited from MPBaseObject
typedef DefaultWeight< Cfg >	WeightType

typedef GenericStateGraph< Cfg, WeightType >	RoadmapType

typedef GroupCfg< RoadmapType >	GroupCfgType

typedef GroupLocalPlan< RoadmapType >	GroupWeightType

typedef GroupRoadmap< GroupCfgType, GroupWeightType >	GroupRoadmapType

Protected Member Functions inherited from SamplerMethod
virtual bool	Sampler (Cfg &_cfg, const Boundary const _robotBoundary, const Boundary const _eeBoundary, std::vector< Cfg > &_valid, std::vector< Cfg > &_invalid)

virtual bool	Sampler (GroupCfgType &_cfg, const Boundary *const _boundary, std::vector< GroupCfgType > &_valid, std::vector< GroupCfgType > &_invalid)

virtual bool	Sampler (GroupCfgType &_cfg, const BoundaryMap &_boundaryMap, std::vector< GroupCfgType > &_valid, std::vector< GroupCfgType > &_invalid)

Protected Member Functions inherited from MPBaseObject
void	SetName (const std::string &_s)

const std::string &	GetBaseFilename () const

Protected Attributes inherited from MPBaseObject
bool	m_debug
	Print debug info? More...

Detailed Description

Gaussian-distribution based sampling.

"The Gaussian sampling strategy for probabilistic roadmap planners" V.Boor, M.H. Overmars, A.H. van der Stappen.

The default behavior is the above standard gaussian sampling. However, this class provides internal (non-XML) functionality to perform gaussian sampling with other options.

Constructor & Destructor Documentation

◆ GaussianSampler() [1/2]

GaussianSampler::GaussianSampler	(	string	_vcLabel = `""`,
		string	_dmLabel = `""`,
		double	_d = `0.5`,
		bool	_useBoundary = `false`
	)

◆ GaussianSampler() [2/2]

GaussianSampler::GaussianSampler ( XMLNode & _node )

Member Function Documentation

◆ ChangeGaussianParams()

void GaussianSampler::ChangeGaussianParams	(	double	newMean,
		double	newStd
	)

◆ ParseXML()

void GaussianSampler::ParseXML ( XMLNode & _node )

◆ Print()

void GaussianSampler::Print ( ostream & _os ) const

virtual

Print internal state of this object.

Parameters

_os	The std::ostream to print to.

Reimplemented from MPBaseObject.

◆ ReturnNewSamplesOnly()

void GaussianSampler::ReturnNewSamplesOnly ( bool setting )

◆ Sampler()

bool GaussianSampler::Sampler	(	Cfg &	_cfg,
		const Boundary *const	_boundary,
		vector< Cfg > &	_valid,
		vector< Cfg > &	_invalid
	)