OrderedInfSampler.h
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2014, University of Toronto
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the University of Toronto nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Authors: Jonathan Gammell */
36 
37 #ifndef OMPL_BASE_SAMPLERS_INFORMED_ORDERED_INFORMED_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_INFORMED_ORDERED_INFORMED_SAMPLER_
39 
40 // We inherit from InformedStateSampler
41 #include "ompl/base/samplers/InformedStateSampler.h"
42 
43 // For a priority queue
44 #include <queue>
45 // For std::function
46 #include <functional>
47 
48 namespace ompl
49 {
50  namespace base
51  {
57  {
58  public:
60  OrderedInfSampler(const InformedSamplerPtr &infSampler, unsigned int batchSize);
61  ~OrderedInfSampler() override = default;
62 
66  bool sampleUniform(State *statePtr, const Cost &maxCost) override;
67 
71  bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) override;
72 
74  bool hasInformedMeasure() const override;
75 
78  double getInformedMeasure(const Cost &currentCost) const override;
79 
80  private:
81  // Variables
83  InformedSamplerPtr infSampler_;
85  unsigned int batchSize_;
87  std::priority_queue<State *, std::vector<State *>, std::function<bool(const State *, const State *)>>
88  orderedSamples_;
89 
90  // Functions
92  bool queueComparator(const State *a, const State *b);
93 
95  void createBatch(const Cost &maxCost);
96 
98  void createBatch(const Cost &minCost, const Cost &maxCost);
99 
101  void clearBatch();
102  };
103  }
104 }
105 
106 #endif // OMPL_BASE_SAMPLERS_INFORMED_REJECTION_INFORMED_SAMPLER_
An abstract class for the concept of using information about the state space and the current solution...
An informed sampler wrapper that generates m samples and then returns them in order of the heuristic...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
bool hasInformedMeasure() const override
Whether the wrapped sampler can provide a measure of the informed subset.
Definition of an abstract state.
Definition: State.h:49
OrderedInfSampler(const InformedSamplerPtr &infSampler, unsigned int batchSize)
Construct an ordering wrapper around the provided informed sampler.
bool sampleUniform(State *statePtr, const Cost &maxCost) override
Sample uniformly in the subset of the state space whose heuristic solution estimates are less than th...
double getInformedMeasure(const Cost &currentCost) const override
The measure of the subset of the state space defined by the current solution cost that is being searc...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47