GaussianValidStateSampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/base/samplers/GaussianValidStateSampler.h"
38 #include "ompl/base/SpaceInformation.h"
39 #include "ompl/tools/config/MagicConstants.h"
40 
42  : ValidStateSampler(si)
43  , sampler_(si->allocStateSampler())
44  , stddev_(si->getMaximumExtent() * magic::STD_DEV_AS_SPACE_EXTENT_FRACTION)
45 {
46  name_ = "gaussian";
47  params_.declareParam<double>("standard_deviation",
48  [this](double stddev)
49  {
50  setStdDev(stddev);
51  },
52  [this]
53  {
54  return getStdDev();
55  });
56 }
57 
59 {
60  bool result = false;
61  unsigned int attempts = 0;
62  State *temp = si_->allocState();
63  do
64  {
65  sampler_->sampleUniform(state);
66  bool v1 = si_->isValid(state);
67  sampler_->sampleGaussian(temp, state, stddev_);
68  bool v2 = si_->isValid(temp);
69  if (v1 != v2)
70  {
71  if (v2)
72  si_->copyState(state, temp);
73  result = true;
74  }
75  ++attempts;
76  } while (!result && attempts < attempts_);
77  si_->freeState(temp);
78  return result;
79 }
80 
81 bool ompl::base::GaussianValidStateSampler::sampleNear(State *state, const State *near, const double distance)
82 {
83  bool result = false;
84  unsigned int attempts = 0;
85  State *temp = si_->allocState();
86  do
87  {
88  sampler_->sampleUniformNear(state, near, distance);
89  bool v1 = si_->isValid(state);
90  sampler_->sampleGaussian(temp, state, distance);
91  bool v2 = si_->isValid(temp);
92  if (v1 != v2)
93  {
94  if (v2)
95  si_->copyState(state, temp);
96  result = true;
97  }
98  ++attempts;
99  } while (!result && attempts < attempts_);
100  si_->freeState(temp);
101  return result;
102 }
void freeState(State *state) const
Free the memory of a state.
const SpaceInformation * si_
The state space this sampler samples.
StateSamplerPtr sampler_
The sampler to build upon.
bool isValid(const State *state) const
Check if a given state is valid or not.
State * allocState() const
Allocate memory for a state.
bool sampleNear(State *state, const State *near, const double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
double stddev_
The standard deviation to use in the sampling process.
void copyState(State *destination, const State *source) const
Copy a state to another.
double getStdDev() const
Get the standard deviation used when sampling.
Abstract definition of a state sampler.
The base class for space information. This contains all the information about the space planning is d...
unsigned int attempts_
Number of attempts to find a valid sample.
Definition of an abstract state.
Definition: State.h:49
GaussianValidStateSampler(const SpaceInformation *si)
Constructor.
void declareParam(const std::string &name, const typename SpecificParam< T >::SetterFn &setter, const typename SpecificParam< T >::GetterFn &getter=typename SpecificParam< T >::GetterFn())
This function declares a parameter name, and specifies the setter and getter functions.
Definition: GenericParam.h:232
void setStdDev(double stddev)
Set the standard deviation to use when sampling.
ParamSet params_
The parameters for this instance of the valid state sampler.
bool sample(State *state) override
Sample a state. Return false in case of failure.
std::string name_
The name of the sampler.