hpp::core::configurationShooter::Gaussian Class Reference

Sample configuration using a gaussian distribution around a configuration. More...

#include <hpp/core/configuration-shooter/gaussian.hh>

Inheritance diagram for hpp::core::configurationShooter::Gaussian:

Collaboration diagram for hpp::core::configurationShooter::Gaussian:

Public Member Functions
virtual void	shoot (Configuration_t &q) const
	Shoot a random configuration. More...
void	center (ConfigurationIn_t c)
const Configuration_t &	center () const
void	sigma (const value_type &factor)
	Set the standard deviation proportional to a default value. More...
void	sigmas (vectorIn_t s)
const vector_t &	sigmas () const
Public Member Functions inherited from hpp::core::ConfigurationShooter
virtual ConfigurationPtr_t	shoot () const
	Shoot a random configuration. More...
virtual	~ConfigurationShooter ()

Static Public Member Functions
static GaussianPtr_t	create (const DevicePtr_t &robot)

Protected Member Functions
	Gaussian (const DevicePtr_t &robot)
	Create a gaussian distribution centered in the robot current configuration. More...
void	init (const GaussianPtr_t &self)
Protected Member Functions inherited from hpp::core::ConfigurationShooter
	ConfigurationShooter ()
void	init (const ConfigurationShooterWkPtr_t &weak)
	Store weak pointer to itself. More...

Detailed Description

Sample configuration using a gaussian distribution around a configuration.

Constructor & Destructor Documentation

Gaussian()

hpp::core::configurationShooter::Gaussian::Gaussian ( const DevicePtr_t &  robot )

inlineprotected

Create a gaussian distribution centered in the robot current configuration.

The standard deviation is computed as sigma(0.25)

See also

Gaussian::sigma

Member Function Documentation

center() [1/2]

void hpp::core::configurationShooter::Gaussian::center ( ConfigurationIn_t  c )

inline

center() [2/2]

const Configuration_t& hpp::core::configurationShooter::Gaussian::center ( ) const

inline

create()

static GaussianPtr_t hpp::core::configurationShooter::Gaussian::create ( const DevicePtr_t &  robot )

inlinestatic

References init().

init()

void hpp::core::configurationShooter::Gaussian::init ( const GaussianPtr_t &  self )

inlineprotected

References hpp::core::ConfigurationShooter::init().

Referenced by create().

shoot()

virtual void hpp::core::configurationShooter::Gaussian::shoot ( Configuration_t &  q ) const

virtual

Shoot a random configuration.

Parameters

q	the configuration (resized if necessary).

Implements hpp::core::ConfigurationShooter.

sigma()

void hpp::core::configurationShooter::Gaussian::sigma

(

const value_type &

factor

)

Set the standard deviation proportional to a default value.

The default value is:

• for vector spaces, the difference between the upper and the lower bounds,
• for SO(n), \(\frac{2\pi}{\sqrt{2n-3}}\) on each of the \( 2n-3 \) dimensions,
• SE(n) is treated as \( R^n \times SO(n) \).

sigmas() [1/2]

void hpp::core::configurationShooter::Gaussian::sigmas ( vectorIn_t  s )

inline

sigmas() [2/2]

const vector_t& hpp::core::configurationShooter::Gaussian::sigmas ( ) const

inline