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) | |
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StateSampler (const StateSpace *space) | |
Constructor. |
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. | |
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const StateSpace * | space_ |
The state space this sampler samples. | |
RNG | rng_ |
An instance of a random number generator. |
Construct a sampler that samples only within a subspace of the space.
Definition at line 142 of file StateSampler.h.