RejectionInfSampler.h
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
A shared pointer wrapper for ompl::base::ProblemDefinition.
A default rejection sampling scheme that samples uniformly from the entire planning domain....
Definition: RejectionInfSampler.h:54
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
A shared pointer wrapper for ompl::base::StateSampler.