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ConditionalStateSampler.h
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34
35/* Author: Francesco Grothe */
36
37#ifndef OMPL_CONDITIONALSTATESAMPLER_H
38#define OMPL_CONDITIONALSTATESAMPLER_H
39
40#include "ompl/base/ValidStateSampler.h"
41#include "ompl/base/StateSampler.h"
42#include "ompl/base/SpaceInformation.h"
43#include "ompl/base/spaces/SpaceTimeStateSpace.h"
44
45namespace ompl
46{
47 namespace base
48 {
50 class Motion
51 {
52 public:
53 Motion() = default;
54
55 explicit Motion(const SpaceInformationPtr &si) : state(si->allocState()) {}
56
57 ~Motion() = default;
58
59 const base::State *root{nullptr};
60 base::State *state{nullptr};
61 Motion *parent{nullptr};
63 std::vector<Motion *> children{};
64 // only used by goal tree
65 Motion *connectionPoint{nullptr}; // the start tree motion, if there is a direct connection
66 int numConnections{0}; // number of connections to the start tree of self and all descendants
67 };
68
72 {
73 public:
75 ConditionalStateSampler(const SpaceInformation *si, Motion *&startMotion,
76 std::vector<Motion *> &goalMotions, std::vector<Motion *> &newBatchGoalMotions,
77 bool &sampleOldBatch);
78
79 bool sample(State *state) override;
80 bool sampleNear(State *state, const State *near, double distance) override;
81
82 private:
84 StateSamplerPtr internalSampler_ = si_->allocStateSampler();
85
87 Motion *&startMotion_;
88
90 std::vector<Motion *> &goalMotions_;
91
93 std::vector<Motion *> &newBatchGoalMotions_;
94
96 bool &sampleOldBatch_;
97
100 int maxTries_ = 10;
101
103 ompl::RNG rng_;
104 };
105 }
106}
107
108
109
110#endif // OMPL_CONDITIONALSTATESAMPLER_H
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
The Conditional Sampler samples feasible Space-Time States. First, a space configuration is sampled....
bool sampleNear(State *state, const State *near, double distance) override
Sample a state near another, within specified distance. Return false, in case of failure.
bool sample(State *state) override
Sample a state. Return false in case of failure.
ConditionalStateSampler(const SpaceInformation *si, Motion *&startMotion, std::vector< Motion * > &goalMotions, std::vector< Motion * > &newBatchGoalMotions, bool &sampleOldBatch)
The constructor.
Representation of a motion.
std::vector< Motion * > children
The set of motions descending from the current motion.
A shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
StateSamplerPtr allocStateSampler() const
Allocate a uniform state sampler for the state space.
A shared pointer wrapper for ompl::base::StateSampler.
Definition of an abstract state.
Definition State.h:50
Abstract definition of a state sampler.
const SpaceInformation * si_
The state space this sampler samples.
Main namespace. Contains everything in this library.