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  using GetCurrentCostFunc = std::function<Cost()>;
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_
void sampleGaussian(State *statePtr, const State *mean, double stdDev) override
By default sampleGaussian throws. This can be overloaded by a specific informed sampler if desired.
ProblemDefinitionPtr probDefn_
A copy of the problem definition.
std::function< Cost()> GetCurrentCostFunc
The definition of a function pointer for querying the current solution cost.
Definition of an abstract state.
Definition: State.h:50
virtual bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost)=0
Sample uniformly in the subset of the state space whose heuristic solution estimates are between the ...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
A wrapper class that allows an InformedSampler to be used as a StateSampler.
A shared pointer wrapper for ompl::base::OptimizationObjective.
unsigned int getMaxNumberOfIters() const
void sampleUniformNear(State *statePtr, const State *near, double distance) override
By default sampleUniformNear throws. This can be overloaded by a specific informed sampler if desired...
ProblemDefinitionPtr getProblemDefn() const
A shared pointer wrapper for ompl::base::ProblemDefinition.
OptimizationObjectivePtr opt_
A copy of the optimization objective.
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...
An abstract class for the concept of using information about the state space and the current solution...
InformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls, const GetCurrentCostFunc &costFunc)
Construct a sampler that only generates states with a heuristic solution estimate that is less than t...
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...
unsigned int numIters_
The number of iterations I'm allowed to attempt.
Abstract definition of a state space sampler.
Definition: StateSampler.h:65
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...
void sampleUniform(State *statePtr) override
Sample uniformly in the subset of the state space whose heuristic solution estimates are less than th...
A shared pointer wrapper for ompl::base::StateSpace.
A shared pointer wrapper for ompl::base::StateSampler.
virtual bool hasInformedMeasure() const =0
Whether the sampler can provide a measure of the informed subset.
StateSpacePtr space_
A copy of the state space.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22