43 namespace ompl
59 ~RejectionInfSampler() override = default;
72 bool hasInformedMeasure() const override;
87 StateSamplerPtr baseSampler_;
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
An abstract class for the concept of using information about the state space and the current solution...
A shared pointer wrapper for ompl::base::ProblemDefinition.
A default rejection sampling scheme that samples uniformly from the entire planning domain....
RejectionInfSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls)
Construct a rejection sampler that only generates states with a heuristic solution estimate that is l...
bool hasInformedMeasure() const override
Whether the sampler can provide a measure of the informed subset.
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...
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...
A shared pointer wrapper for ompl::base::StateSampler.