/usr/include/ompl/base/StateSampler.h is in libompl-dev 1.2.1+ds1-1build1.
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/* Author: Ioan Sucan */
#ifndef OMPL_BASE_STATE_SAMPLER_
#define OMPL_BASE_STATE_SAMPLER_
#include "ompl/base/State.h"
#include "ompl/util/RandomNumbers.h"
#include "ompl/util/ClassForward.h"
#include <vector>
#include <string>
#include <functional>
namespace ompl
{
namespace base
{
/// @cond IGNORE
OMPL_CLASS_FORWARD(StateSpace);
/// @endcond
/// @cond IGNORE
/** \brief Forward declaration of ompl::base::StateSampler */
OMPL_CLASS_FORWARD(StateSampler);
/// @endcond
/** \class ompl::base::StateSamplerPtr
\brief A shared pointer wrapper for ompl::base::StateSampler */
/** \brief Abstract definition of a state space sampler. */
class StateSampler
{
public:
// non-copyable
StateSampler(const StateSampler&) = delete;
StateSampler& operator=(const StateSampler&) = delete;
/** \brief Constructor */
StateSampler(const StateSpace *space) : space_(space)
{
}
virtual ~StateSampler()
{
}
/** \brief Sample a state */
virtual void sampleUniform(State *state) = 0;
/** \brief Sample a state near another, within a neighborhood controlled by a distance parameter.
Typically, StateSampler-derived classes will return in `state` a
state that is uniformly distributed within a ball with radius
`distance` defined by the distance function from the corresponding
state space. However, this is not guaranteed. For example, the
default state sampler for the RealVectorStateSpace returns samples
uniformly distributed using L_inf distance, while the default
distance function is L_2 distance.
*/
virtual void sampleUniformNear(State *state, const State *near, const double distance) = 0;
/** \brief Sample a state using a Gaussian distribution with given \e mean and standard deviation (\e stdDev).
As with sampleUniform, the implementation of sampleGaussian is
specific to the derived class and few assumptions can be made
about the distance between `state` and `mean`.
*/
virtual void sampleGaussian(State *state, const State *mean, const double stdDev) = 0;
protected:
/** \brief The state space this sampler samples */
const StateSpace *space_;
/** \brief An instance of a random number generator */
RNG rng_;
};
/** \brief Definition of a compound state sampler. This is useful to construct samplers for compound states. */
class CompoundStateSampler : public StateSampler
{
public:
/** \brief Constructor */
CompoundStateSampler(const StateSpace *space) : StateSampler(space), samplerCount_(0)
{
}
/** \brief Destructor. This frees the added samplers as well. */
virtual ~CompoundStateSampler()
{
}
/** \brief Add a sampler as part of the new compound
sampler. This sampler is used to sample part of the
compound state. When sampling near a state, the
compound sampler calls in to added samplers. The
distance passed to the called samplers is adjusted
according to the specified importance. */
virtual void addSampler(const StateSamplerPtr &sampler, double weightImportance);
virtual void sampleUniform(State *state);
/** \brief Call sampleUniformNear for each of the subspace states
with distance scaled by the corresponding subspace weight. */
virtual void sampleUniformNear(State *state, const State *near, const double distance);
/** \brief Call sampleGaussian for each of the subspace states
with stdDev scaled by the corresponding subspace weight. */
virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
protected:
/** \brief The samplers that are composed */
std::vector<StateSamplerPtr> samplers_;
/** \brief The weight of each sampler (used when sampling near a state) */
std::vector<double> weightImportance_;
private:
/** \brief The number of samplers that are composed */
unsigned int samplerCount_;
};
/** \brief Construct a sampler that samples only within a subspace of the space */
class SubspaceStateSampler : public StateSampler
{
public:
/** \brief Construct a sampler for \e space but only sample components common to \e subspace. Use \e weight as a multiplicative factor for \e distance and \e stdDev in the sampleUniformNear() and sampleGaussian() functions. */
SubspaceStateSampler(const StateSpace *space, const StateSpace *subspace, double weight);
virtual ~SubspaceStateSampler();
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 subspace to sample */
const StateSpace *subspace_;
/** \brief The sampler for the subspace */
StateSamplerPtr subspaceSampler_;
/** \brief The weigth factor to multiply distance and stdDev when sampling in the vicinity of a state */
double weight_;
/** \brief The names of common subspaces between \e space_ and \e subspace_; these are the ones copied after sampling a state */
std::vector<std::string> subspaces_;
private:
/** \brief Temporary work area */
State *work_;
/** \brief Temporary work area */
State *work2_;
};
/** \brief Definition of a function that can allocate a state sampler */
typedef std::function<StateSamplerPtr(const StateSpace*)> StateSamplerAllocator;
}
}
#endif
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