ConditionalStateSampler.h
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34 
35 /* Author: Francesco Grothe */
36 
37 #ifndef OMPL_CONDITIONALSTATESAMPLER_H
38 #define OMPL_CONDITIONALSTATESAMPLER_H
39 
40 #include "ompl/base/ValidStateSampler.h"
41 #include "ompl/base/StateSampler.h"
42 #include "ompl/base/SpaceInformation.h"
43 #include "ompl/base/spaces/SpaceTimeStateSpace.h"
44 
45 namespace ompl
46 {
47  namespace base
48  {
50  class Motion
51  {
52  public:
53  Motion() = default;
54 
55  explicit Motion(const SpaceInformationPtr &si) : state(si->allocState()) {}
56 
57  ~Motion() = default;
58 
59  const base::State *root{nullptr};
60  base::State *state{nullptr};
61  Motion *parent{nullptr};
63  std::vector<Motion *> children{};
64  // only used by goal tree
65  Motion *connectionPoint{nullptr}; // the start tree motion, if there is a direct connection
66  int numConnections{0}; // number of connections to the start tree of self and all descendants
67  };
68 
71  class ConditionalStateSampler : public ValidStateSampler
72  {
73  public:
75  ConditionalStateSampler(const SpaceInformation *si, Motion *&startMotion,
76  std::vector<Motion *> &goalMotions, std::vector<Motion *> &newBatchGoalMotions,
77  bool &sampleOldBatch);
78 
79  bool sample(State *state) override;
80  bool sampleNear(State *state, const State *near, double distance) override;
81 
82  private:
84  StateSamplerPtr internalSampler_ = si_->allocStateSampler();
85 
87  Motion *&startMotion_;
88 
90  std::vector<Motion *> &goalMotions_;
91 
93  std::vector<Motion *> &newBatchGoalMotions_;
94 
96  bool &sampleOldBatch_;
97 
100  int maxTries_ = 10;
101 
103  ompl::RNG rng_;
104  };
105  }
106 }
107 
108 
109 
110 #endif // OMPL_CONDITIONALSTATESAMPLER_H
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:89
A shared pointer wrapper for ompl::base::SpaceInformation.
const SpaceInformation * si_
The state space this sampler samples.
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
ConditionalStateSampler(const SpaceInformation *si, Motion *&startMotion, std::vector< Motion * > &goalMotions, std::vector< Motion * > &newBatchGoalMotions, bool &sampleOldBatch)
The constructor.
StateSamplerPtr allocStateSampler() const
Allocate a uniform state sampler for the state space.
bool sample(State *state) override
Sample a state. Return false in case of failure.
A shared pointer wrapper for ompl::base::StateSampler.
std::vector< Motion * > children
The set of motions descending from the current motion.
Main namespace. Contains everything in this library.