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OrderedInfSampler.h
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34
35/* Authors: Jonathan Gammell */
36
37#ifndef OMPL_BASE_SAMPLERS_INFORMED_ORDERED_INFORMED_SAMPLER_
38#define OMPL_BASE_SAMPLERS_INFORMED_ORDERED_INFORMED_SAMPLER_
39
40// We inherit from InformedStateSampler
41#include "ompl/base/samplers/InformedStateSampler.h"
42
43// For a priority queue
44#include <queue>
45// For std::function
46#include <functional>
47
48namespace ompl
49{
50 namespace base
51 {
56 class OrderedInfSampler : public InformedSampler
57 {
58 public:
60 OrderedInfSampler(const InformedSamplerPtr &infSamplerPtr, unsigned int batchSize);
61 ~OrderedInfSampler() override = default;
62
66 bool sampleUniform(State *statePtr, const Cost &maxCost) override;
67
71 bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) override;
72
74 bool hasInformedMeasure() const override;
75
78 double getInformedMeasure(const Cost &currentCost) const override;
79
80 private:
81 // Variables
83 InformedSamplerPtr infSampler_;
85 unsigned int batchSize_;
87 std::priority_queue<State *, std::vector<State *>, std::function<bool(const State *, const State *)>>
88 orderedSamples_;
89
90 // Functions
92 bool queueComparator(const State *a, const State *b);
93
95 void createBatch(const Cost &maxCost);
96
98 void createBatch(const Cost &minCost, const Cost &maxCost);
99
101 void clearBatch();
102 };
103 }
104}
105
106#endif // OMPL_BASE_SAMPLERS_INFORMED_REJECTION_INFORMED_SAMPLER_
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
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...
OrderedInfSampler(const InformedSamplerPtr &infSamplerPtr, unsigned int batchSize)
Construct an ordering wrapper around the provided informed sampler.
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...
bool hasInformedMeasure() const override
Whether the wrapped sampler can provide a measure of the informed subset.
Definition of an abstract state.
Definition State.h:50
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Main namespace. Contains everything in this library.