DeterministicStateSampler.h

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/* Author: Leonard Bruns */
 
#ifndef OMPL_BASE_DETERMINISTIC_STATE_SAMPLER_
#define OMPL_BASE_DETERMINISTIC_STATE_SAMPLER_
 
#include "ompl/base/StateSpace.h"
#include "ompl/base/StateSampler.h"
#include "ompl/base/samplers/deterministic/DeterministicSequence.h"
 
#include <memory>
 
namespace ompl
{
    namespace base
    {
        class DeterministicStateSampler : public StateSampler
        {
        public:
            enum DeterministicSamplerType
            {
                HALTON
            };
 
            DeterministicStateSampler(const StateSpace *space,
                                      DeterministicSamplerType type = DeterministicSamplerType::HALTON);
            DeterministicStateSampler(const StateSpace *space, std::shared_ptr<DeterministicSequence> sequence_ptr);
 
            virtual ~DeterministicStateSampler() = default;
 
            virtual void sampleUniform(State *state)
            {
                std::vector<double> sample = sequence_ptr_->sample();
                space_->copyFromReals(state, sample);
                return;
            }
 
            virtual void sampleUniformNear(State *, const State *, double)
            {
                OMPL_ERROR("sampleUniformNear is not supported for DeterministicStateSampler");
            }
            virtual void sampleGaussian(State *, const State *, double)
            {
                OMPL_ERROR("sampleGaussian is not supported for DeterministicStateSampler");
            }
 
        protected:
            std::shared_ptr<DeterministicSequence> sequence_ptr_;
        };
 
        class SO2DeterministicStateSampler : public DeterministicStateSampler
        {
        public:
            SO2DeterministicStateSampler(const StateSpace *space,
                                         DeterministicSamplerType type = DeterministicSamplerType::HALTON)
              : DeterministicStateSampler(space, type)
            {
            }
            SO2DeterministicStateSampler(const StateSpace *space, std::shared_ptr<DeterministicSequence> sequence_ptr)
              : DeterministicStateSampler(space, sequence_ptr)
            {
            }
 
            void sampleUniform(State *state) override;
            void sampleUniformNear(State *state, const State *near, double distance) override;
            void sampleGaussian(State *state, const State *mean, double stdDev) override;
        };
 
        class RealVectorDeterministicStateSampler : public DeterministicStateSampler
        {
        public:
            RealVectorDeterministicStateSampler(const StateSpace *space,
                                                DeterministicSamplerType type = DeterministicSamplerType::HALTON)
              : DeterministicStateSampler(space, type), stretch_(true)
            {
            }
            RealVectorDeterministicStateSampler(const StateSpace *space,
                                                std::shared_ptr<DeterministicSequence> sequence_ptr,
                                                bool stretch = true)
              : DeterministicStateSampler(space, sequence_ptr), stretch_(stretch)
            {
            }
 
            void sampleUniform(State *state) override;
            void sampleUniformNear(State *state, const State *near, double distance) override;
            void sampleGaussian(State *state, const State *mean, double stdDev) override;
 
        private:
            bool stretch_{false};  // indicates whether the state is samples in [0,1] and should be stretched to the
                                   // state space boundaries
        };
 
        class SE2DeterministicStateSampler : public DeterministicStateSampler
        {
        public:
            SE2DeterministicStateSampler(const StateSpace *space,
                                         DeterministicSamplerType type = DeterministicSamplerType::HALTON)
              : DeterministicStateSampler(space, type), stretch_rv_(true), stretch_so2_(true)
            {
            }
            SE2DeterministicStateSampler(const StateSpace *space, std::shared_ptr<DeterministicSequence> sequence_ptr,
                                         bool stretch_rv = true, bool stretch_so2 = true)
              : DeterministicStateSampler(space, sequence_ptr), stretch_rv_(stretch_rv), stretch_so2_(stretch_so2)
            {
            }
 
            void sampleUniform(State *state) override;
            void sampleUniformNear(State *state, const State *near, double distance) override;
            void sampleGaussian(State *state, const State *mean, double stdDev) override;
 
        private:
            bool stretch_rv_;   // indicates whether the xy state is sampled in [0,1] and should be stretched to the
                                // state space boundaries
            bool stretch_so2_;  // indicates whether the so2 state is sampled in [0,1] and should be stretched to
                                // [-pi;pi]
        };
    }  // namespace base
}  // namespace ompl
 
#endif