InformedStateSampler.h
124 {
158 void commonConstructor(const GetCurrentCostFunc &costFunc, const InformedSamplerPtr &infSampler);
void sampleGaussian(State *statePtr, const State *mean, double stdDev) override
By default sampleGaussian throws. This can be overloaded by a specific informed sampler if desired.
Definition: InformedStateSampler.cpp:242
ProblemDefinitionPtr probDefn_
A copy of the problem definition.
Definition: InformedStateSampler.h:177
std::function< Cost()> GetCurrentCostFunc
The definition of a function pointer for querying the current solution cost.
Definition: InformedStateSampler.h:191
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:111
A wrapper class that allows an InformedSampler to be used as a StateSampler.
Definition: InformedStateSampler.h:187
A shared pointer wrapper for ompl::base::OptimizationObjective.
unsigned int getMaxNumberOfIters() const
Definition: InformedStateSampler.cpp:179
void sampleUniformNear(State *statePtr, const State *near, double distance) override
By default sampleUniformNear throws. This can be overloaded by a specific informed sampler if desired...
Definition: InformedStateSampler.cpp:235
ProblemDefinitionPtr getProblemDefn() const
Definition: InformedStateSampler.cpp:174
A shared pointer wrapper for ompl::base::ProblemDefinition.
OptimizationObjectivePtr opt_
A copy of the optimization objective.
Definition: InformedStateSampler.h:179
virtual bool sampleUniform(State *statePtr, const Cost &maxCost)=0
Sample uniformly in the subset of the state space whose heuristic solution estimates are less than th...
InformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls, const GetCurrentCostFunc &costFunc)
Construct a sampler that only generates states with a heuristic solution estimate that is less than t...
Definition: InformedStateSampler.cpp:187
virtual double getInformedMeasure(const Cost ¤tCost) const =0
The measure of the subset of the state space defined by the current solution cost that is being searc...
unsigned int numIters_
The number of iterations I'm allowed to attempt.
Definition: InformedStateSampler.h:183
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:141
void sampleUniform(State *statePtr) override
Sample uniformly in the subset of the state space whose heuristic solution estimates are less than th...
Definition: InformedStateSampler.cpp:218
A shared pointer wrapper for ompl::base::StateSpace.
A shared pointer wrapper for ompl::base::StateSampler.
virtual bool hasInformedMeasure() const =0
Whether the sampler can provide a measure of the informed subset.