InformedStateSampler.h

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/* Authors: Jonathan Gammell */
 
#ifndef OMPL_BASE_SAMPLERS_INFORMED_SAMPLER_
#define OMPL_BASE_SAMPLERS_INFORMED_SAMPLER_
 
// We inherit from StateSampler
#include "ompl/base/StateSampler.h"
// Deriving functions must be able to sample within a given cost
#include "ompl/base/Cost.h"
// We use a pointer to the problem definition to access problem and solution data.
#include "ompl/base/ProblemDefinition.h"
 
// For std::function
#include <functional>
 
namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(InformedSampler);
        OMPL_CLASS_FORWARD(InformedStateSampler);
 
        class InformedSampler
        {
        public:
            // non-copyable
            InformedSampler(const InformedSampler &) = delete;
            InformedSampler &operator=(const InformedSampler &) = delete;
 
            InformedSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls);
 
            virtual ~InformedSampler() = default;
 
            virtual bool sampleUniform(State *statePtr, const Cost &maxCost) = 0;
 
            virtual bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) = 0;
 
            virtual bool hasInformedMeasure() const = 0;
 
            virtual double getInformedMeasure(const Cost &currentCost) const = 0;
 
            virtual double getInformedMeasure(const Cost &minCost, const Cost &maxCost) const;
 
            virtual Cost heuristicSolnCost(const State *statePtr) const;
 
            ProblemDefinitionPtr getProblemDefn() const;
 
            unsigned int getMaxNumberOfIters() const;
 
        protected:
            ProblemDefinitionPtr probDefn_;
            OptimizationObjectivePtr opt_;
            StateSpacePtr space_;
            unsigned int numIters_;
        };
 
        class InformedStateSampler : public StateSampler
        {
        public:
            using GetCurrentCostFunc = std::function<Cost()>;
 
            InformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls,
                                 const GetCurrentCostFunc &costFunc);
 
            InformedStateSampler(const ProblemDefinitionPtr &probDefn, const GetCurrentCostFunc &costFunc,
                                 const InformedSamplerPtr &infSampler);
 
            ~InformedStateSampler() override = default;
 
            void sampleUniform(State *statePtr) override;
 
            void sampleUniformNear(State *statePtr, const State *near, double distance) override;
 
            void sampleGaussian(State *statePtr, const State *mean, double stdDev) override;
 
        private:
            void commonConstructor(const GetCurrentCostFunc &costFunc, const InformedSamplerPtr &infSampler);
 
            GetCurrentCostFunc bestCostFunc_;
            StateSamplerPtr baseSampler_;
            InformedSamplerPtr infSampler_;
        };
    }
}
 
#endif  // OMPL_BASE_SAMPLERS_INFORMED_SAMPLER_