SpherePoseSampler Class Reference

samples poses of a movable frame, such that the frame is always positioned on a sphere around some specified center. Random deviations to the position of the frame can be added. More...

#include <SpherePoseSampler.hpp>

Inherits StateSampler.

Public Member Functions
	SpherePoseSampler (rw::kinematics::MovableFrame *mframe, const rw::math::Vector3D<> &wPc, double radi)
	constructor frame will be set in random poses on the sphere with center wPc and radius radi More...
	SpherePoseSampler (rw::kinematics::MovableFrame *mframe, const rw::math::Vector3D<> &wPc, rw::kinematics::State &initState)
	constructor frame will be set in random poses on the sphere with center wPc and radius implicitly defined as the distance from frame to wPc in initState More...
virtual	~SpherePoseSampler ()
	destructor
void	setRPYNoiseBound (const rw::math::RPY<> &low, const rw::math::RPY<> &upper)
	sets the bounds of the rotation noise(small random deviation) that is added to the generated pose of the frame. More...
void	setPosNoiseBound (const rw::math::Vector3D<> &low, const rw::math::Vector3D<> &upper)
	sets the bounds of the position noise(small random deviation) that is added to the generated pose of the frame. More...
bool	sample (rw::kinematics::State &state)
	Sample a state. More...
bool	empty () const
	True if the sampler is known to contain no more configurations. More...

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

Detailed Description

samples poses of a movable frame, such that the frame is always positioned on a sphere around some specified center. Random deviations to the position of the frame can be added.

This StateSampler will never become empty.

Constructor & Destructor Documentation

SpherePoseSampler() [1/2]

SpherePoseSampler	(	rw::kinematics::MovableFrame *	mframe,
		const rw::math::Vector3D<> &	wPc,
		double	radi
	)

constructor frame will be set in random poses on the sphere with center wPc and radius radi

Parameters

mframe	[in] the frame
wPc	[in] the origo of the sphere
radi	[in] radius of sphere

SpherePoseSampler() [2/2]

SpherePoseSampler	(	rw::kinematics::MovableFrame *	mframe,
		const rw::math::Vector3D<> &	wPc,
		rw::kinematics::State &	initState
	)

constructor frame will be set in random poses on the sphere with center wPc and radius implicitly defined as the distance from frame to wPc in initState

Parameters

mframe	[in] the frame
wPc	[in] the origo of the sphere
initState	[in] the initial state

Member Function Documentation

empty()

bool empty ( ) const

virtual

True if the sampler is known to contain no more configurations.

Implements StateSampler.

sample()

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

virtual

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.

setPosNoiseBound()

void setPosNoiseBound	(	const rw::math::Vector3D<> &	low,
		const rw::math::Vector3D<> &	upper
	)

sets the bounds of the position noise(small random deviation) that is added to the generated pose of the frame.

Parameters

low	[in] lower bound position values
upper	[in] upper bound position values

setRPYNoiseBound()

void setRPYNoiseBound	(	const rw::math::RPY<> &	low,
		const rw::math::RPY<> &	upper
	)

sets the bounds of the rotation noise(small random deviation) that is added to the generated pose of the frame.

Parameters

low	[in] lower bound RPY values
upper	[in] upper bound RPY values

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

• SpherePoseSampler.hpp