Loading...
Searching...
No Matches
RandomEdge.cpp
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#include <ompl/multilevel/datastructures/graphsampler/RandomEdge.h>
40
41ompl::multilevel::BundleSpaceGraphSamplerRandomEdge::BundleSpaceGraphSamplerRandomEdge(
42 BundleSpaceGraph *bundleSpaceGraph)
43 : BaseT(bundleSpaceGraph)
44{
45}
46
47void ompl::multilevel::BundleSpaceGraphSamplerRandomEdge::sampleImplementation(base::State *xRandom)
48{
49 BundleSpaceGraph::Graph graph = bundleSpaceGraph_->getGraph();
50
51 if (num_edges(graph) == 0)
52 {
53 OMPL_WARN("Base graph contains no edges.");
54 return;
55 }
56
57 BundleSpaceGraph::Edge e = boost::random_edge(graph, rng_boost);
58
59 double s = rng_.uniform01();
60
61 const Vertex v1 = boost::source(e, graph);
62 const Vertex v2 = boost::target(e, graph);
63 const base::State *from = graph[v1]->state;
64 const base::State *to = graph[v2]->state;
65
66 bundleSpaceGraph_->getBundle()->getStateSpace()->interpolate(from, to, s, xRandom);
67}
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, Configuration *, EdgeInternalState, GraphMetaData > Graph
A Bundle-graph structure using boost::adjacency_list bundles.
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition Console.h:66