StateSamplerArray.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_BASE_STATE_SAMPLER_ARRAY_
38 #define OMPL_BASE_STATE_SAMPLER_ARRAY_
39 
40 #include "ompl/base/SpaceInformation.h"
41 #include "ompl/base/StateSampler.h"
42 #include "ompl/base/ValidStateSampler.h"
43 #include <vector>
44 
45 namespace ompl
46 {
47  namespace base
48  {
53  template <typename T>
54  struct SamplerSelector
55  {
56  };
57 
59  template <>
60  struct SamplerSelector<StateSampler>
61  {
62  using Sampler = StateSampler;
63  using SamplerPtr = StateSamplerPtr;
64 
65  SamplerPtr allocStateSampler(const SpaceInformation *si)
66  {
67  return si->allocStateSampler();
68  }
69  };
70 
71  template <>
72  struct SamplerSelector<ValidStateSampler>
73  {
74  using Sampler = ValidStateSampler;
75  using SamplerPtr = ValidStateSamplerPtr;
76 
77  SamplerPtr allocStateSampler(const SpaceInformation *si)
78  {
79  return si->allocValidStateSampler();
80  }
81  };
86  template <typename T>
87  class StateSamplerArray
88  {
89  public:
91  using SamplerPtr = typename SamplerSelector<T>::SamplerPtr;
92 
94  using Sampler = typename SamplerSelector<T>::Sampler;
95 
97  StateSamplerArray(const SpaceInformationPtr &si) : si_(si.get())
98  {
99  }
100 
102  StateSamplerArray(const SpaceInformation *si) : si_(si)
103  {
104  }
105 
106  ~StateSamplerArray() = default;
107 
110  Sampler *operator[](std::size_t index) const
111  {
112  return samplers_[index].get();
113  }
114 
116  void resize(std::size_t count)
117  {
118  if (samplers_.size() > count)
119  samplers_.resize(count);
120  else if (samplers_.size() < count)
121  {
122  samplers_.resize(count);
123  for (auto &sampler : samplers_)
124  sampler = ss_.allocStateSampler(si_);
125  }
126  }
127 
129  std::size_t size() const
130  {
131  return samplers_.size();
132  }
133 
135  void clear()
136  {
137  resize(0);
138  }
139 
140  private:
141  const SpaceInformation *si_;
142  SamplerSelector<T> ss_;
143  std::vector<SamplerPtr> samplers_;
144  };
145  }
146 }
147 
148 #endif
A shared pointer wrapper for ompl::base::SpaceInformation.
void clear()
Clear all allocated samplers.
typename SamplerSelector< T >::SamplerPtr SamplerPtr
Pointer to the type of sampler allocated.
Sampler * operator[](std::size_t index) const
Access operator for a specific sampler. For performance reasons, the bounds are not checked.
std::size_t size() const
Get the count of samplers currently available.
typename SamplerSelector< T >::Sampler Sampler
The type of sampler allocated.
StateSamplerArray(const SpaceInformationPtr &si)
Constructor.
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::ValidStateSampler.
void resize(std::size_t count)
Create or release some state samplers.
Main namespace. Contains everything in this library.