Program Listing for File StateSampler.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_STATE_SAMPLER_
#define OMPL_BASE_STATE_SAMPLER_

#include "ompl/base/State.h"
#include "ompl/util/RandomNumbers.h"
#include "ompl/util/ClassForward.h"
#include <vector>
#include <string>
#include <functional>

namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(StateSpace);


        OMPL_CLASS_FORWARD(StateSampler);

        class StateSampler
        {
        public:
            // non-copyable
            StateSampler(const StateSampler &) = delete;
            StateSampler &operator=(const StateSampler &) = delete;

            StateSampler(const StateSpace *space) : space_(space)
            {
            }

            virtual ~StateSampler() = default;

            virtual void sampleUniform(State *state) = 0;

            virtual void sampleUniformNear(State *state, const State *near, double distance) = 0;

            virtual void sampleGaussian(State *state, const State *mean, double stdDev) = 0;

        protected:
            const StateSpace *space_;

            RNG rng_;
        };

        class CompoundStateSampler : public StateSampler
        {
        public:
            CompoundStateSampler(const StateSpace *space) : StateSampler(space), samplerCount_(0)
            {
            }

            ~CompoundStateSampler() override = default;

            virtual void addSampler(const StateSamplerPtr &sampler, double weightImportance);

            void sampleUniform(State *state) override;

            void sampleUniformNear(State *state, const State *near, double distance) override;

            void sampleGaussian(State *state, const State *mean, double stdDev) override;

        protected:
            std::vector<StateSamplerPtr> samplers_;

            std::vector<double> weightImportance_;

        private:
            unsigned int samplerCount_;
        };

        class SubspaceStateSampler : public StateSampler
        {
        public:
            SubspaceStateSampler(const StateSpace *space, const StateSpace *subspace, double weight);
            ~SubspaceStateSampler() override;

            void sampleUniform(State *state) override;

            void sampleUniformNear(State *state, const State *near, double distance) override;

            void sampleGaussian(State *state, const State *mean, double stdDev) override;

        protected:
            const StateSpace *subspace_;

            StateSamplerPtr subspaceSampler_;

            double weight_;

            std::vector<std::string> subspaces_;

        private:
            State *work_;

            State *work2_;
        };

        using StateSamplerAllocator = std::function<StateSamplerPtr(const StateSpace *)>;
    }
}

#endif