InformedStateSampler.h
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34 
35 /* Authors: Jonathan Gammell */
36 
37 #ifndef OMPL_BASE_SAMPLERS_INFORMED_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_INFORMED_SAMPLER_
39 
40 // We inherit from StateSampler
41 #include "ompl/base/StateSampler.h"
42 // Deriving functions must be able to sample within a given cost
43 #include "ompl/base/Cost.h"
44 // We use a pointer to the problem definition to access problem and solution data.
45 #include "ompl/base/ProblemDefinition.h"
46 
47 // For std::function
48 #include <functional>
49 
50 namespace ompl
51 {
52  namespace base
53  {
54  OMPL_CLASS_FORWARD(InformedSampler);
55  OMPL_CLASS_FORWARD(InformedStateSampler);
56 
61  {
62  public:
63  // non-copyable
64  InformedSampler(const InformedSampler &) = delete;
65  InformedSampler &operator=(const InformedSampler &) = delete;
66 
71  InformedSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls);
72 
73  virtual ~InformedSampler() = default;
74 
78  virtual bool sampleUniform(State *statePtr, const Cost &maxCost) = 0;
79 
83  virtual bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) = 0;
84 
86  virtual bool hasInformedMeasure() const = 0;
87 
91  virtual double getInformedMeasure(const Cost &currentCost) const = 0;
92 
98  virtual double getInformedMeasure(const Cost &minCost, const Cost &maxCost) const;
99 
103  virtual Cost heuristicSolnCost(const State *statePtr) const;
104 
107 
109  unsigned int getMaxNumberOfIters() const;
110 
111  protected:
119  unsigned int numIters_;
120  };
121 
124  {
125  public:
127  typedef std::function<Cost()> GetCurrentCostFunc;
128 
132  InformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls,
133  const GetCurrentCostFunc &costFunc);
134 
138  InformedStateSampler(const ProblemDefinitionPtr &probDefn, const GetCurrentCostFunc &costFunc,
139  const InformedSamplerPtr &infSampler);
140 
141  ~InformedStateSampler() override = default;
142 
146  void sampleUniform(State *statePtr) override;
147 
150  void sampleUniformNear(State *statePtr, const State *near, double distance) override;
151 
154  void sampleGaussian(State *statePtr, const State *mean, double stdDev) override;
155 
156  private:
158  void commonConstructor(const GetCurrentCostFunc &costFunc, const InformedSamplerPtr &infSampler);
159 
162  GetCurrentCostFunc bestCostFunc_;
164  StateSamplerPtr baseSampler_;
166  InformedSamplerPtr infSampler_;
167  };
168  }
169 }
170 
171 #endif // OMPL_BASE_SAMPLERS_INFORMED_SAMPLER_
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::StateSpace.
A shared pointer wrapper for ompl::base::StateSampler.
OptimizationObjectivePtr opt_
A copy of the optimization objective.
An abstract class for the concept of using information about the state space and the current solution...
StateSpacePtr space_
A copy of the state space.
virtual bool sampleUniform(State *statePtr, const Cost &maxCost)=0
Sample uniformly in the subset of the state space whose heuristic solution estimates are less than th...
unsigned int getMaxNumberOfIters() const
virtual double getInformedMeasure(const Cost &currentCost) const =0
The measure of the subset of the state space defined by the current solution cost that is being searc...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
virtual Cost heuristicSolnCost(const State *statePtr) const
A helper function to calculate the heuristic estimate of the solution cost for a given state using th...
Definition of an abstract state.
Definition: State.h:49
ProblemDefinitionPtr getProblemDefn() const
A shared pointer wrapper for ompl::base::OptimizationObjective.
ProblemDefinitionPtr probDefn_
A copy of the problem definition.
Abstract definition of a state space sampler.
Definition: StateSampler.h:64
unsigned int numIters_
The number of iterations I&#39;m allowed to attempt.
A wrapper class that allows an InformedSampler to be used as a StateSampler.
std::function< Cost()> GetCurrentCostFunc
The definition of a function pointer for querying the current solution cost.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
virtual bool hasInformedMeasure() const =0
Whether the sampler can provide a measure of the informed subset.