SurfacePoseSampler Class Reference

random sampling of points and orientations close to the surface of a geometry. More...

#include <SurfacePoseSampler.hpp>

Inherits PoseSampler.

Public Types
typedef rw::core::Ptr< SurfacePoseSampler >	Ptr
Public Types inherited from PoseSampler
typedef rw::core::Ptr< PoseSampler >	Ptr

Public Member Functions
	SurfacePoseSampler (rw::geometry::Geometry::Ptr geom)
	SurfacePoseSampler (const std::vector< rw::geometry::Geometry::Ptr > &geoms)
void	init (rw::geometry::Geometry::Ptr geom)
rw::math::Transform3D	sample ()
void	setBoundsD (double minD, double maxD)
void	setRandomRotationEnabled (bool enabled)
void	setRandomPositionEnabled (bool enabled)
void	setZAxisDirectionEnabled (bool enabled)
void	setZAxisDirection (const rw::math::Vector3D<> &dir)

Detailed Description

random sampling of points and orientations close to the surface of a geometry.

A point p on the surface is randomly choosen.
A rotation rot is randomly generated.
A random distance d in the interval [minD, maxD] is generated
The position pos is calculated as \( pos = p - rot*(0,0,d)^T \)
The random pose X is thus \( X = (pos, rot) \) Optionally a random rotation of X can be generated such that z-axis of rot is not allways pointing toward the surface.

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The documentation for this class was generated from the following file:

• SurfacePoseSampler.hpp