RejectionInfSampler.h
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34 
35 /* Authors: Jonathan Gammell */
36 
37 #ifndef OMPL_BASE_SAMPLERS_INFORMED_GENERAL_REJECTION_INFORMED_SAMPLER_
38 #define OMPL_BASE_SAMPLERS_INFORMED_GENERAL_REJECTION_INFORMED_SAMPLER_
39 
40 // We inherit from InformedStateSampler
41 #include "ompl/base/samplers/InformedStateSampler.h"
42 
43 namespace ompl
44 {
45  namespace base
46  {
54  {
55  public:
58  RejectionInfSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls);
59  ~RejectionInfSampler() override = default;
60 
64  bool sampleUniform(State *statePtr, const Cost &maxCost) override;
65 
69  bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) override;
70 
72  bool hasInformedMeasure() const override;
73 
77  double getInformedMeasure(const Cost & /*currentCost*/) const override;
78 
82  double getInformedMeasure(const Cost & /*minCost*/, const Cost & /*maxCost*/) const override;
83 
84  private:
85  // Variables
87  StateSamplerPtr baseSampler_;
88 
91  bool sampleUniform(State *statePtr, const Cost &maxCost, unsigned int *iterPtr);
92  };
93  }
94 }
95 
96 #endif // OMPL_BASE_SAMPLERS_INFORMED_REJECTION_INFORMED_SAMPLER_
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::StateSampler.
An abstract class for the concept of using information about the state space and the current solution...
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 &) const override
The measure of the subset of the state space defined by the current solution cost that is being searc...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
bool hasInformedMeasure() const override
Whether the sampler can provide a measure of the informed subset.
RejectionInfSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls)
Construct a rejection sampler that only generates states with a heuristic solution estimate that is l...
Definition of an abstract state.
Definition: State.h:49
A default rejection sampling scheme that samples uniformly from the entire planning domain...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47