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  {
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_
An informed sampler wrapper that generates m samples and then returns them in order of the heuristic.
Definition of an abstract state.
Definition: State.h:50
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...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
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...
An abstract class for the concept of using information about the state space and the current solution...
Main namespace. Contains everything in this library.
Definition: AppBase.h:22