OrderedInfSampler.h
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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  {
56  class OrderedInfSampler : public InformedSampler
57  {
58  public:
60  OrderedInfSampler(const InformedSamplerPtr &infSamplerPtr, 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_
bool hasInformedMeasure() const override
Whether the wrapped sampler can provide a measure of the informed subset.
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...
OrderedInfSampler(const InformedSamplerPtr &infSamplerPtr, 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...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21