OrderedInfSampler.h

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/* Authors: Jonathan Gammell */

#ifndef OMPL_BASE_SAMPLERS_INFORMED_ORDERED_INFORMED_SAMPLER_
#define OMPL_BASE_SAMPLERS_INFORMED_ORDERED_INFORMED_SAMPLER_

// We inherit from InformedStateSampler
#include "ompl/base/samplers/InformedStateSampler.h"

// For a priority queue
#include <queue>
// For std::function
#include <functional>

namespace ompl
{
    namespace base
    {
        class OrderedInfSampler : public InformedSampler
        {
        public:
            OrderedInfSampler(const InformedSamplerPtr &infSamplerPtr, unsigned int batchSize);
            ~OrderedInfSampler() override = default;

            bool sampleUniform(State *statePtr, const Cost &maxCost) override;

            bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) override;

            bool hasInformedMeasure() const override;

            double getInformedMeasure(const Cost &currentCost) const override;

        private:
            // Variables
            InformedSamplerPtr infSampler_;
            unsigned int batchSize_;
            std::priority_queue<State *, std::vector<State *>, std::function<bool(const State *, const State *)>>
                orderedSamples_;

            // Functions
            bool queueComparator(const State *a, const State *b);

            void createBatch(const Cost &maxCost);

            void createBatch(const Cost &minCost, const Cost &maxCost);

            void clearBatch();
        };
    }
}

#endif  // OMPL_BASE_SAMPLERS_INFORMED_REJECTION_INFORMED_SAMPLER_