RejectionInfSampler.h
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35/* Authors: Jonathan Gammell */
36
37#ifndef OMPL_BASE_SAMPLERS_INFORMED_GENERAL_REJECTION_INFORMED_SAMPLER_
38#define OMPL_BASE_SAMPLERS_INFORMED_GENERAL_REJECTION_INFORMED_SAMPLER_
39
40// We inherit from InformedStateSampler
41#include "ompl/base/samplers/InformedStateSampler.h"
42
43namespace ompl
44{
45 namespace base
46 {
54 {
55 public:
58 RejectionInfSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls);
59 ~RejectionInfSampler() override = default;
60
64 bool sampleUniform(State *statePtr, const Cost &maxCost) override;
65
69 bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) override;
70
72 bool hasInformedMeasure() const override;
73
77 double getInformedMeasure(const Cost & /*currentCost*/) const override;
78
82 double getInformedMeasure(const Cost & /*minCost*/, const Cost & /*maxCost*/) const override;
83
84 private:
85 // Variables
87 StateSamplerPtr baseSampler_;
88
91 bool sampleUniform(State *statePtr, const Cost &maxCost, unsigned int *iterPtr);
92 };
93 }
94}
95
96#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
An abstract class for the concept of using information about the state space and the current solution...
A shared pointer wrapper for ompl::base::ProblemDefinition.
A default rejection sampling scheme that samples uniformly from the entire planning domain....
RejectionInfSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls)
Construct a rejection sampler that only generates states with a heuristic solution estimate that is l...
bool hasInformedMeasure() const override
Whether the sampler can provide a measure of the informed subset.
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...
double getInformedMeasure(const Cost &) const override
The measure of the subset of the state space defined by the current solution cost that is being searc...
A shared pointer wrapper for ompl::base::StateSampler.
Definition of an abstract state.
Definition: State.h:50
Main namespace. Contains everything in this library.