Robotics Library
0.7.0
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Bridge test sampling strategy. More...
#include <BridgeSampler.h>
Public Member Functions | |
BridgeSampler () | |
virtual | ~BridgeSampler () |
::rl::math::Vector | generateCollisionFree () |
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GaussianSampler () | |
virtual | ~GaussianSampler () |
::rl::math::Vector | generateCollisionFree () |
virtual void | seed (const ::std::mt19937::result_type &value) |
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UniformSampler () | |
virtual | ~UniformSampler () |
::rl::math::Vector | generate () |
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Sampler () | |
virtual | ~Sampler () |
virtual ::rl::math::Vector | generateCollisionFree () |
Public Attributes | |
::rl::math::Real | ratio |
Probability of choosing bridge sample. More... | |
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::rl::math::Vector * | sigma |
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SimpleModel * | model |
Additional Inherited Members | |
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::std::normal_distribution< ::rl::math::Real >::result_type | gauss () |
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::std::uniform_real_distribution< ::rl::math::Real >::result_type | rand () |
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::std::normal_distribution< ::rl::math::Real > | gaussDistribution |
::std::mt19937 | gaussEngine |
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::std::uniform_real_distribution< ::rl::math::Real > | randDistribution |
::std::mt19937 | randEngine |
Bridge test sampling strategy.
David Hsu, Tingting Jiang, John Reif, and Zheng Sun. The bridge test for sampling narrow passages with probabilistic roadmap planners. In Proceedings of the IEEE International Conference on Robotics and Automation, pages 4420-4426, September 2003.
rl::plan::BridgeSampler::BridgeSampler | ( | ) |
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virtual |
rl::math::Vector rl::plan::BridgeSampler::generateCollisionFree | ( | ) |
::rl::math::Real rl::plan::BridgeSampler::ratio |
Probability of choosing bridge sample.