/usr/include/ompl/base/PrecomputedStateSampler.h is in libompl-dev 1.0.0+ds2-1build1.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 | /*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Willow Garage
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#include "ompl/base/StateSampler.h"
#include <vector>
namespace ompl
{
namespace base
{
/** \brief State space sampler for discrete states */
class PrecomputedStateSampler : public StateSampler
{
public:
/** \brief Constructor. Takes the state space to be sampled (\e space) and the set of states to draw samples from (\e states) */
PrecomputedStateSampler(const StateSpace *space, const std::vector<const State*> &states);
/** \brief Constructor. Takes the state space to be sampled (\e space), the set of states to draw samples from (\e states) and a range to sample from: [\e minIndex, \e maxIndex]*/
PrecomputedStateSampler(const StateSpace *space, const std::vector<const State*> &states, std::size_t minIndex, std::size_t maxIndex);
virtual void sampleUniform(State *state);
virtual void sampleUniformNear(State *state, const State *near, const double distance);
virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
protected:
/** \brief The states to sample from */
const std::vector<const State*> &states_;
/** \brief The minimum index to start sampling at */
std::size_t minStateIndex_;
/** \brief The maximum index to stop sampling at */
std::size_t maxStateIndex_;
};
}
}
|