CForestStateSampler.h
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34 
35 /* Author: Javier V. Gómez */
36 
37 #ifndef OMPL_BASE_SAMPLERS_CFOREST_STATE_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_CFOREST_STATE_SAMPLER_
39 
40 #include "ompl/base/StateSpace.h"
41 
42 #include <mutex>
43 #include <utility>
44 
45 namespace ompl
46 {
47  namespace base
48  {
52  {
53  public:
56  : StateSampler(space), sampler_(std::move(sampler))
57  {
58  }
59 
62  {
63  clear();
64  }
65 
68  void sampleUniform(State *state) override;
69 
72  void sampleUniformNear(State *state, const State *near, const double distance) override;
73 
76  void sampleGaussian(State *state, const State *mean, const double stdDev) override;
77 
78  const StateSpace *getStateSpace() const
79  {
80  return space_;
81  }
82 
85  void setStatesToSample(const std::vector<const State *> &states);
86 
87  void clear();
88 
89  protected:
91  void getNextSample(State *state);
92 
94  std::vector<State *> statesToSample_;
95 
98 
100  std::mutex statesLock_;
101  };
102  }
103 }
104 
105 #endif
const StateSpace * space_
The state space this sampler samples.
Definition: StateSampler.h:104
A shared pointer wrapper for ompl::base::StateSampler.
~CForestStateSampler() override
Destructor.
StateSamplerPtr sampler_
Underlying, user-specified state sampler.
std::vector< State * > statesToSample_
States to be sampled.
std::mutex statesLock_
Lock to control the access to the statesToSample_ vector.
STL namespace.
CForestStateSampler(const StateSpace *space, StateSamplerPtr sampler)
Constructor.
void sampleGaussian(State *state, const State *mean, const double stdDev) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state ...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:70
Definition of an abstract state.
Definition: State.h:49
void setStatesToSample(const std::vector< const State *> &states)
Fills the vector StatesToSample_ of states to be sampled in the next calls to sampleUniform(), sampleUniformNear() or sampleGaussian().
void sampleUniform(State *state) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
void getNextSample(State *state)
Extracts the next sample when statesToSample_ is not empty.
void sampleUniformNear(State *state, const State *near, const double distance) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
Abstract definition of a state space sampler.
Definition: StateSampler.h:64