RandomDegreeVertex.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_RANDOM_DEGREEVERTEX_
40 #define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_GRAPHSAMPLER_RANDOM_DEGREEVERTEX_
41 #include <ompl/multilevel/datastructures/graphsampler/GraphSampler.h>
42 
43 namespace ompl
44 {
45  namespace multilevel
46  {
47  class BundleSpaceGraphSamplerRandomDegreeVertex : public BundleSpaceGraphSampler
48  {
49  using BaseT = BundleSpaceGraphSampler;
50 
51  public:
52  BundleSpaceGraphSamplerRandomDegreeVertex() = delete;
53  BundleSpaceGraphSamplerRandomDegreeVertex(BundleSpaceGraph *);
54  virtual ~BundleSpaceGraphSamplerRandomDegreeVertex() = default;
55 
56  protected:
57  virtual void sampleImplementation(base::State *xRandom) override;
58  };
59  } // namespace multilevel
60 } // namespace ompl
61 
62 #endif
Main namespace. Contains everything in this library.