Re: [ompl-users] samplers in compound statespace

[Mark M. <mm...@ri...>]

Hi Rajaneesh,

You can do this by calling ompl::base::StateSpace::setStateSamplerAllocator with as argument a function that you have to write that will allocate the appropriate samplers for each subspace. If you want a valid state sampler, you can use the ompl::base::SpaceInformation::setValidStateSamplerAllocator method.

Best,

Mark


> On Aug 26, 2018, at 12:21 AM, Rajaneesh <raj...@gm...> wrote:
> 
> Hello,
> 
>   I have a compound space comprising of three  Vectorspaces. I would like to run the planner with uniform sampler in one vectorspace and gaussian sampler for the rest of the vector spaces. How would I do this in OMPL?
> 
> Regards
> Rajaneesh