PathLengthDirectInfSampler.h

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/* Authors: Jonathan Gammell */
 
#ifndef OMPL_BASE_SAMPLERS_INFORMED_PATH_LENGTH_DIRECT_INFORMED_SAMPLER_
#define OMPL_BASE_SAMPLERS_INFORMED_PATH_LENGTH_DIRECT_INFORMED_SAMPLER_
 
// We inherit from InformedStateSampler
#include "ompl/base/samplers/InformedStateSampler.h"
 
// For std::list
#include <list>
 
namespace ompl
{
    namespace base
    {

        class PathLengthDirectInfSampler : public InformedSampler
        {
        public:
            PathLengthDirectInfSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls);
            ~PathLengthDirectInfSampler() override;

            bool sampleUniform(State *statePtr, const Cost &maxCost) override;

            bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) override;

            bool hasInformedMeasure() const override;

            double getInformedMeasure(const Cost &currentCost) const override;

            Cost heuristicSolnCost(const State *statePtr) const override;
 
        private:
            using ProlateHyperspheroidCPtr = std::shared_ptr<const ompl::ProlateHyperspheroid>;
 
            // Helper functions:
            // High level
            bool sampleUniform(State *statePtr, const Cost &maxCost, unsigned int *iters);

            bool sampleBoundsRejectPhs(State *statePtr, unsigned int *iters);

            bool samplePhsRejectBounds(State *statePtr, unsigned int *iters);
 
            // Low level
            std::vector<double> getInformedSubstate(const State *statePtr) const;

            void createFullState(State *statePtr, const std::vector<double> &informedVector);

            void updatePhsDefinitions(const Cost &maxCost);

            ompl::ProlateHyperspheroidPtr randomPhsPtr();

            bool keepSample(const std::vector<double> &informedVector);

            bool isInAnyPhs(const std::vector<double> &informedVector) const;

            bool isInPhs(const ProlateHyperspheroidCPtr &phsCPtr, const std::vector<double> &informedVector) const;

            unsigned int numberOfPhsInclusions(const std::vector<double> &informedVector) const;
 
            // Variables
            std::list<ompl::ProlateHyperspheroidPtr> listPhsPtrs_;

            double summedMeasure_;

            unsigned int informedIdx_;

            StateSpacePtr informedSubSpace_;

            unsigned int uninformedIdx_;

            StateSpacePtr uninformedSubSpace_;

            StateSamplerPtr baseSampler_;

            StateSamplerPtr uninformedSubSampler_;

            RNG rng_;
        };  // PathLengthDirectInfSampler
    }  // namespace base
}  // namespace ompl
 
#endif  // OMPL_BASE_SAMPLERS_INFORMED_DIRECT_PATH_LENGTH_INFORMED_SAMPLER_