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PathLengthDirectInfSampler.h
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34
35/* Authors: Jonathan Gammell */
36
37#ifndef OMPL_BASE_SAMPLERS_INFORMED_PATH_LENGTH_DIRECT_INFORMED_SAMPLER_
38#define OMPL_BASE_SAMPLERS_INFORMED_PATH_LENGTH_DIRECT_INFORMED_SAMPLER_
39
40// We inherit from InformedStateSampler
41#include "ompl/base/samplers/InformedStateSampler.h"
42
43// For std::list
44#include <list>
45
46namespace ompl
47{
48 namespace base
49 {
81 {
82 public:
85 PathLengthDirectInfSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls);
87
91 bool sampleUniform(State *statePtr, const Cost &maxCost) override;
92
96 bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) override;
97
99 bool hasInformedMeasure() const override;
100
105 double getInformedMeasure(const Cost &currentCost) const override;
106
109 Cost heuristicSolnCost(const State *statePtr) const override;
110
111 private:
113 using ProlateHyperspheroidCPtr = std::shared_ptr<const ompl::ProlateHyperspheroid>;
114
115 // Helper functions:
116 // High level
119 bool sampleUniform(State *statePtr, const Cost &maxCost, unsigned int *iters);
120
123 bool sampleBoundsRejectPhs(State *statePtr, unsigned int *iters);
124
127 bool samplePhsRejectBounds(State *statePtr, unsigned int *iters);
128
129 // Low level
131 std::vector<double> getInformedSubstate(const State *statePtr) const;
132
135 void createFullState(State *statePtr, const std::vector<double> &informedVector);
136
140 void updatePhsDefinitions(const Cost &maxCost);
141
144 ompl::ProlateHyperspheroidPtr randomPhsPtr();
145
148 bool keepSample(const std::vector<double> &informedVector);
149
151 bool isInAnyPhs(const std::vector<double> &informedVector) const;
152
154 bool isInPhs(const ProlateHyperspheroidCPtr &phsCPtr, const std::vector<double> &informedVector) const;
155
157 unsigned int numberOfPhsInclusions(const std::vector<double> &informedVector) const;
158
159 // Variables
161 std::list<ompl::ProlateHyperspheroidPtr> listPhsPtrs_;
162
164 double summedMeasure_;
165
168 unsigned int informedIdx_;
169
171 StateSpacePtr informedSubSpace_;
172
175 unsigned int uninformedIdx_;
176
179 StateSpacePtr uninformedSubSpace_;
180
183 StateSamplerPtr baseSampler_;
184
186 StateSamplerPtr uninformedSubSampler_;
187
189 RNG rng_;
190 }; // PathLengthDirectInfSampler
191 }
192}
193
194#endif // OMPL_BASE_SAMPLERS_INFORMED_DIRECT_PATH_LENGTH_INFORMED_SAMPLER_
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
An abstract class for the concept of using information about the state space and the current solution...
An informed sampler for problems seeking to minimize path length.
bool sampleUniform(State *statePtr, const Cost &maxCost) override
Sample uniformly in the subset of the state space whose heuristic solution estimates are less than th...
bool hasInformedMeasure() const override
Whether the sampler can provide a measure of the informed subset.
double getInformedMeasure(const Cost &currentCost) const override
The measure of the subset of the state space defined by the current solution cost that is being searc...
Cost heuristicSolnCost(const State *statePtr) const override
A helper function to calculate the heuristic estimate of the solution cost for the informed subset of...
A shared pointer wrapper for ompl::base::ProblemDefinition.
A shared pointer wrapper for ompl::base::StateSampler.
A shared pointer wrapper for ompl::base::StateSpace.
Definition of an abstract state.
Definition State.h:50
Main namespace. Contains everything in this library.