ConditionalStateSampler.h

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/* Author: Francesco Grothe */
 
#ifndef OMPL_CONDITIONALSTATESAMPLER_H
#define OMPL_CONDITIONALSTATESAMPLER_H
 
#include "ompl/base/ValidStateSampler.h"
#include "ompl/base/StateSampler.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/spaces/SpaceTimeStateSpace.h"
 
namespace ompl
{
    namespace base
    {

        class ConditionalStateSampler : public ValidStateSampler
        {
        public:
            class Motion
            {
            public:
                Motion() = default;
 
                explicit Motion(const SpaceInformationPtr &si) : state(si->allocState())
                {
                }
 
                ~Motion() = default;
 
                const base::State *root{nullptr};
                base::State *state{nullptr};
                Motion *parent{nullptr};
                std::vector<Motion *> children{};
                // only used by goal tree
                Motion *connectionPoint{nullptr};  // the start tree motion, if there is a direct connection
                int numConnections{0};  // number of connections to the start tree of self and all descendants
            };

            ConditionalStateSampler(const SpaceInformation *si, Motion *&startMotion,
                                    std::vector<Motion *> &goalMotions, std::vector<Motion *> &newBatchGoalMotions,
                                    bool &sampleOldBatch);
 
            bool sample(State *state) override;
            bool sampleNear(State *state, const State *near, double distance) override;
 
        private:
            StateSamplerPtr internalSampler_ = si_->allocStateSampler();

            Motion *&startMotion_;

            std::vector<Motion *> &goalMotions_;

            std::vector<Motion *> &newBatchGoalMotions_;

            bool &sampleOldBatch_;

            int maxTries_ = 10;

            ompl::RNG rng_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif  // OMPL_CONDITIONALSTATESAMPLER_H