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GraphSampler.h
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36
37/* Author: Andreas Orthey */
38
39#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_GRAPHSAMPLER_SAMPLER_
40#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_GRAPHSAMPLER_SAMPLER_
41#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
42#include <ompl/multilevel/datastructures/ParameterExponentialDecay.h>
43#include <boost/random/linear_congruential.hpp>
44#include <boost/random/variate_generator.hpp>
45
46namespace ompl
47{
48 namespace multilevel
49 {
50 class BundleSpaceGraphSampler
51 {
52 protected:
53 using Vertex = ompl::multilevel::BundleSpaceGraph::Vertex;
54
55 public:
56 BundleSpaceGraphSampler() = delete;
57
58 BundleSpaceGraphSampler(BundleSpaceGraph *);
59
60 virtual void sample(base::State *xRandom);
61
62 void setPathBiasStartSegment(double);
63
64 double getPathBiasStartSegment();
65
66 void disableSegmentBias();
67
68 void disablePathBias();
69
70 virtual void clear();
71
72 protected:
73 virtual void sampleImplementation(base::State *xRandom) = 0;
74
75 using RNGType = boost::minstd_rand;
76 RNGType rng_boost;
77 RNG rng_;
78
79 BundleSpaceGraph *bundleSpaceGraph_;
80
81 double epsilonGraphThickening_{0.0};
82
83 double epsilonGraphThickeningFraction_{1e-3};
84
85 double pathBiasFixed_{0.1};
86
87 double pathBiasStartSegment_{0.0};
88
89 bool segmentBias_{true};
90
91 double exponentialDecayLambda_{1e-5};
92
93 unsigned long long counterPathSampling_{0};
94
95 unsigned long long counterGraphSampling_{0};
96
97 ParameterExponentialDecay pathBiasDecay_;
98 ParameterExponentialDecay graphThickeningGrowth_;
99 ParameterExponentialDecay pathThickeningGrowth_;
100 };
101 } // namespace multilevel
102} // namespace ompl
103#endif
ParameterExponentialDecay represents a smooth interpolation between two parameter values using an exp...
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition of an abstract state.
Definition State.h:50
A graph on a Bundle-space.
This namespace contains datastructures and planners to exploit multilevel abstractions,...
Main namespace. Contains everything in this library.