RejectionInfSampler.cpp
45 RejectionInfSampler::RejectionInfSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls)
54 OMPL_WARN("RejectionInfSampler: The optimization objective does not have a cost-to-go heuristic "
70 bool RejectionInfSampler::sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost)
112 double RejectionInfSampler::getInformedMeasure(const Cost & /*minCost*/, const Cost & /*maxCost*/) const
117 bool RejectionInfSampler::sampleUniform(State *statePtr, const Cost &maxCost, unsigned int *iterPtr)
123 // Make numIters_ attempts at finding a sample whose heuristic estimate of solution cost through the sample
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:48
An abstract class for the concept of using information about the state space and the current solution...
Definition: InformedStateSampler.h:61
OptimizationObjectivePtr opt_
A copy of the optimization objective.
Definition: InformedStateSampler.h:115
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...
Definition: InformedStateSampler.cpp:77
unsigned int numIters_
The number of iterations I'm allowed to attempt.
Definition: InformedStateSampler.h:119
A shared pointer wrapper for ompl::base::ProblemDefinition.
RejectionInfSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls)
Construct a rejection sampler that only generates states with a heuristic solution estimate that is l...
Definition: RejectionInfSampler.cpp:45
bool hasInformedMeasure() const override
Whether the sampler can provide a measure of the informed subset.
Definition: RejectionInfSampler.cpp:102
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...
Definition: RejectionInfSampler.cpp:60
double getInformedMeasure(const Cost &) const override
The measure of the subset of the state space defined by the current solution cost that is being searc...
Definition: RejectionInfSampler.cpp:107