StateSampler.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_STATE_SAMPLER_
#define OMPL_BASE_STATE_SAMPLER_
 
#include "ompl/base/State.h"
#include "ompl/util/RandomNumbers.h"
#include "ompl/util/ClassForward.h"
#include <vector>
#include <string>
#include <functional>
 
namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(StateSpace);
 
 
        OMPL_CLASS_FORWARD(StateSampler);
 
        class StateSampler
        {
        public:
            // non-copyable
            StateSampler(const StateSampler &) = delete;
            StateSampler &operator=(const StateSampler &) = delete;
 
            StateSampler(const StateSpace *space) : space_(space)
            {
            }
 
            virtual ~StateSampler() = default;
 
            virtual void sampleUniform(State *state) = 0;
 
            virtual void sampleUniformNear(State *state, const State *near, double distance) = 0;
 
            virtual void sampleGaussian(State *state, const State *mean, double stdDev) = 0;
 
        protected:
            const StateSpace *space_;
 
            RNG rng_;
        };
 
        class CompoundStateSampler : public StateSampler
        {
        public:
            CompoundStateSampler(const StateSpace *space) : StateSampler(space), samplerCount_(0)
            {
            }
 
            ~CompoundStateSampler() override = default;
 
            virtual void addSampler(const StateSamplerPtr &sampler, double weightImportance);
 
            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;
 
        protected:
            std::vector<StateSamplerPtr> samplers_;
 
            std::vector<double> weightImportance_;
 
        private:
            unsigned int samplerCount_;
        };
 
        class SubspaceStateSampler : public StateSampler
        {
        public:
            SubspaceStateSampler(const StateSpace *space, const StateSpace *subspace, double weight);
            ~SubspaceStateSampler() override;
 
            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;
 
        protected:
            const StateSpace *subspace_;
 
            StateSamplerPtr subspaceSampler_;
 
            double weight_;
 
            std::vector<std::string> subspaces_;
 
        private:
            State *work_;
 
            State *work2_;
        };
 
        using StateSamplerAllocator = std::function<StateSamplerPtr(const StateSpace *)>;
    }
}
 
#endif