RandomEdge.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/graphsampler/RandomEdge.h>
 
ompl::multilevel::BundleSpaceGraphSamplerRandomEdge::BundleSpaceGraphSamplerRandomEdge(
    BundleSpaceGraph *bundleSpaceGraph)
  : BaseT(bundleSpaceGraph)
{
}
 
void ompl::multilevel::BundleSpaceGraphSamplerRandomEdge::sampleImplementation(base::State *xRandom)
{
    BundleSpaceGraph::Graph graph = bundleSpaceGraph_->getGraph();
 
    if (num_edges(graph) == 0)
    {
        OMPL_WARN("Base graph contains no edges.");
        return;
    }
 
    BundleSpaceGraph::Edge e = boost::random_edge(graph, rng_boost);
 
    double s = rng_.uniform01();
 
    const Vertex v1 = boost::source(e, graph);
    const Vertex v2 = boost::target(e, graph);
    const base::State *from = graph[v1]->state;
    const base::State *to = graph[v2]->state;
 
    bundleSpaceGraph_->getBundle()->getStateSpace()->interpolate(from, to, s, xRandom);
}