Class DijkstraSampler

Nested Relationships

Nested Types

Inheritance Relationships

Base Type

  • public ompl::base::InformedSampler

Class Documentation

class DijkstraSampler : public ompl::base::InformedSampler

Public Functions

DijkstraSampler(const ompl::base::ProblemDefinitionPtr &pdef, unsigned int maxCalls = 100, double cell_size = 0.5, double bias = 0.05, bool debug = false)
inline ~DijkstraSampler() = default
inline void setStart(const std::array<double, 3> &start)
inline void setGoal(const std::array<double, 3> &goal)
inline void setCellSize(double cell_size)
inline void setBias(double bias)
void setup()
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, double cell_size = 0.5, double bias = 0.05, bool debug = false)

Protected Functions

void addEdgeAndWeight(size_t row_i, size_t col_i, size_t row_f, size_t col_f)

Protected Attributes

props props_
std::array<double, 3> start_ = {0.0, 0.0, 0.0}
std::array<double, 3> goal_ = {0.0, 0.0, 0.0}
std::list<Edge> edges_
std::vector<double> weights_
std::list<SamplingGraphVertexDescriptor> path_
ompl::RNG rng_
double bias_ = {0.05}
bool debug_ = {false}
std::fstream sampledPosesFile_