RejectionInfSampler.h

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, University of Toronto
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the University of Toronto nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Authors: Jonathan Gammell */
 
#ifndef OMPL_BASE_SAMPLERS_INFORMED_GENERAL_REJECTION_INFORMED_SAMPLER_
#define OMPL_BASE_SAMPLERS_INFORMED_GENERAL_REJECTION_INFORMED_SAMPLER_
 
// We inherit from InformedStateSampler
#include "ompl/base/samplers/InformedStateSampler.h"
 
namespace ompl
{
    namespace base
    {
        class RejectionInfSampler : public InformedSampler
        {
        public:
            RejectionInfSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls);
            ~RejectionInfSampler() override = default;

            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;

            double getInformedMeasure(const Cost & /*minCost*/, const Cost & /*maxCost*/) const override;
 
        private:
            // Variables
            StateSamplerPtr baseSampler_;

            bool sampleUniform(State *statePtr, const Cost &maxCost, unsigned int *iterPtr);
        };
    }  // namespace base
}  // namespace ompl
 
#endif  // OMPL_BASE_SAMPLERS_INFORMED_REJECTION_INFORMED_SAMPLER_