GraphSampler.h
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2020,
5  * Max Planck Institute for Intelligent Systems (MPI-IS).
6  * All rights reserved.
7  *
8  * Redistribution and use in source and binary forms, with or without
9  * modification, are permitted provided that the following conditions
10  * are met:
11  *
12  * * Redistributions of source code must retain the above copyright
13  * notice, this list of conditions and the following disclaimer.
14  * * Redistributions in binary form must reproduce the above
15  * copyright notice, this list of conditions and the following
16  * disclaimer in the documentation and/or other materials provided
17  * with the distribution.
18  * * Neither the name of the MPI-IS nor the names
19  * of its contributors may be used to endorse or promote products
20  * derived from this software without specific prior written
21  * permission.
22  *
23  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
24  * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
25  * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
26  * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
27  * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
28  * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
29  * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
30  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
31  * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
32  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
33  * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
34  * POSSIBILITY OF SUCH DAMAGE.
35  *********************************************************************/
36 
37 /* Author: Andreas Orthey */
38 
39 #ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_GRAPHSAMPLER_SAMPLER_
40 #define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_GRAPHSAMPLER_SAMPLER_
41 #include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
42 #include <ompl/multilevel/datastructures/ParameterExponentialDecay.h>
43 #include <boost/random/linear_congruential.hpp>
44 #include <boost/random/variate_generator.hpp>
45 
46 namespace ompl
47 {
48  namespace multilevel
49  {
50  class BundleSpaceGraphSampler
51  {
52  protected:
53  using Vertex = ompl::multilevel::BundleSpaceGraph::Vertex;
54 
55  public:
56  BundleSpaceGraphSampler() = delete;
57 
58  BundleSpaceGraphSampler(BundleSpaceGraph *);
59 
60  virtual void sample(base::State *xRandom);
61 
62  void setPathBiasStartSegment(double);
63 
64  double getPathBiasStartSegment();
65 
66  void disableSegmentBias();
67 
68  void disablePathBias();
69 
70  virtual void clear();
71 
72  protected:
73  virtual void sampleImplementation(base::State *xRandom) = 0;
74 
75  using RNGType = boost::minstd_rand;
76  RNGType rng_boost;
77  RNG rng_;
78 
79  BundleSpaceGraph *bundleSpaceGraph_;
80 
81  double epsilonGraphThickening_{0.0};
82 
83  double epsilonGraphThickeningFraction_{1e-3};
84 
85  double pathBiasFixed_{0.1};
86 
87  double pathBiasStartSegment_{0.0};
88 
89  bool segmentBias_{true};
90 
91  double exponentialDecayLambda_{1e-5};
92 
93  unsigned long long counterPathSampling_{0};
94 
95  unsigned long long counterGraphSampling_{0};
96 
97  ParameterExponentialDecay pathBiasDecay_;
98  ParameterExponentialDecay graphThickeningGrowth_;
99  ParameterExponentialDecay pathThickeningGrowth_;
100  };
101  } // namespace multilevel
102 } // namespace ompl
103 #endif
Main namespace. Contains everything in this library.