This StateSampler will never become empty. More...

#include <PreshapeSampler.hpp>

Public Member Functions
	PreshapeSampler (rw::models::Device *dev, rw::core::Ptr< rw::pathplanning::QSampler > qsampler, rw::kinematics::State &initState)
	create a preshape sampler based on a QSampler More...

virtual	~PreshapeSampler ()
	destructor

bool	sample (rw::kinematics::State &state)
	Sample a state. More...

bool	empty () const
	Sample a state. More...

Additional Inherited Members
Public Types inherited from StateSampler
typedef rw::core::Ptr< StateSampler >	Ptr

Detailed Description

This StateSampler will never become empty.

Constructor & Destructor Documentation

◆ PreshapeSampler()

PreshapeSampler	(	rw::models::Device *	dev,
		rw::core::Ptr< rw::pathplanning::QSampler >	qsampler,
		rw::kinematics::State &	initState
	)

create a preshape sampler based on a QSampler

Parameters

dev	[in] the device for which configurations are sampled
qsampler	[in] the configuration sampler
initState	[in] the initial state

Member Function Documentation

◆ empty()

bool empty ( ) const

inlinevirtual

Sample a state.

If sampling fails, the sampler may return the empty configuration. If empty() is true then the sampler has no more configurations. Otherwise sample() may (or may not) succeed if called a second time.

Implements StateSampler.

◆ sample()

bool sample ( rw::kinematics::State & state )

virtual