Class HybridSampler

Inheritance Relationships

Base Type

  • public ompl::base::InformedSampler

Class Documentation

class HybridSampler : public ompl::base::InformedSampler

Public Functions

HybridSampler(const ompl::base::ProblemDefinitionPtr &pdef, unsigned int maxCalls = 100, const std::string &intensity_map_file_name = "", double cell_size = 0.5, double bias_a = 0.05, double bias_b = 0.05, bool uniform_valid = true, bool debug = false)
bool sampleUniform(ompl::base::State *state, const ompl::base::Cost &maxCost) override
inline bool sampleUniform(ompl::base::State *state, const ompl::base::Cost &minCost, const ompl::base::Cost &maxCost) override
inline bool hasInformedMeasure() const override
inline double getInformedMeasure(const ompl::base::Cost &currentCost) const override

Public Static Functions

static inline ompl::base::InformedSamplerPtr allocate(const ompl::base::ProblemDefinitionPtr &pdef, unsigned int maxCalls = 100, const std::string &intensity_map_file_name = "", double cell_size = 0.5, double bias_a = 0.05, double bias_b = 0.05, bool uniform_valid = false, bool debug = false)

Protected Attributes

std::shared_ptr<ompl::base::InformedSampler> intensity_map_sampler_
std::shared_ptr<ompl::base::InformedSampler> dijkstra_sampler_
std::shared_ptr<ompl::base::InformedSampler> ellipse_sampler_
double intensity_bias_ = {0.0}
double dijkstra_bias_ = {0.0}
bool uniform_valid_ = {true}
ompl::RNG rng_