FiniteStateSampler Class Reference

a state sampler that will sample a finite set of states. The nr of samples is not necesdarilly finite since states are allowed to be sampled multiple times. More...

#include <FiniteStateSampler.hpp>

Inherits StateSampler.

Public Types
enum	SamplerType { ORDERED_SAMPLING , RANDOM_SAMPLING }
	type of sampling More...
Public Types inherited from StateSampler
typedef rw::core::Ptr< StateSampler >	Ptr

Public Member Functions
	FiniteStateSampler (const rw::kinematics::State &state, int n=1, SamplerType type=ORDERED_SAMPLING)
	constructor for sampling a single state More...
	FiniteStateSampler (const std::vector< rw::kinematics::State > &states, int n=1, SamplerType type=ORDERED_SAMPLING)
	constructor for sampling multiple states More...
virtual	~FiniteStateSampler ()
	destructor
void	addState (const rw::kinematics::State &state)
	add a single state to sample More...
void	addStates (const std::vector< rw::kinematics::State > &states)
	add states to be sampled More...
void	setStates (const std::vector< rw::kinematics::State > &states)
	set the states that you want sampled More...
bool	sample (rw::kinematics::State &state)
	Sample a state. More...
bool	empty () const
	Sample a state. More...

Detailed Description

a state sampler that will sample a finite set of states. The nr of samples is not necesdarilly finite since states are allowed to be sampled multiple times.

Member Enumeration Documentation

SamplerType

enum SamplerType

type of sampling

Enumerator
RANDOM_SAMPLING	samples are choosen from front to back samples are choosen randomly

Constructor & Destructor Documentation

FiniteStateSampler() [1/2]

FiniteStateSampler	(	const rw::kinematics::State &	state,
		int	n = 1,
		SamplerType	type = ORDERED_SAMPLING
	)

constructor for sampling a single state

Parameters

state	[in] the state to sample
n	[in] number of allowed samples, if n<0 then a infinite number of samples is allowed
type	documentation missing !

FiniteStateSampler() [2/2]

FiniteStateSampler	(	const std::vector< rw::kinematics::State > &	states,
		int	n = 1,
		SamplerType	type = ORDERED_SAMPLING
	)

constructor for sampling multiple states

Parameters

states	[in] states that are to be sampled
n	[in] number of allowed samples, if n<0 then a infinite number of samples is allowed
type	documentation missing !

Member Function Documentation

addState()

void addState

(

const rw::kinematics::State &

state

)

add a single state to sample

Parameters

state

[in] state to sample

addStates()

void addStates

(

const std::vector< rw::kinematics::State > &

states

)

add states to be sampled

Parameters

states

[in] states to sample

empty()

bool empty ( ) const

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.

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.

One of the states in the finite state list is choosen and returned

Implements StateSampler.

setStates()

void setStates

(

const std::vector< rw::kinematics::State > &

states

)

set the states that you want sampled

Parameters

states

[in] the states to sample

---

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

• FiniteStateSampler.hpp