Class IntensityMapSampler

• Defined in File IntensityMapSampler.h

Nested Relationships

Nested Types

• Class IntensityMapSampler::QMap

Inheritance Relationships

Base Type

• public ompl::base::InformedSampler

Class Documentation

class IntensityMapSampler : public ompl::base::InformedSampler

Public Functions

IntensityMapSampler(const ompl::base::ProblemDefinitionPtr &pdef, unsigned int maxCalls, const ::MoD::IntensityMap &q_map, double bias, bool debug = false)

IntensityMapSampler(const ompl::base::ProblemDefinitionPtr &pdef, unsigned int maxCalls, const std::string &intensity_map_file_name, double bias = 0.5, bool debug = false)

inline void setBias(double bias)

inline ~IntensityMapSampler() override = default

void setup(const ::MoD::IntensityMap &intensity_map)

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

void sampleNecessarilyValid(ompl::base::State *state)

Public Static Functions

static inline ompl::base::InformedSamplerPtr allocate(const ompl::base::ProblemDefinitionPtr &pdef, unsigned int maxCalls, const std::string &intensity_map_file_name, double bias = 0.5, bool debug = false)

Protected Attributes

std::vector<QMap> q_map

std::vector<QMap> nonq_map

double half_cell_size = {0.0}

double bias_ = {0.5}

double value_sum = {0.0}

ompl::RNG rng_

bool debug_ = {false}

std::fstream sampledPosesFile_

class QMap

Public Functions

inline QMap(double x, double y, double value)

inline double getX() const

inline double getY() const

inline double getValue() const

inline ~QMap() = default