Class OrderedInfSampler

Inheritance Relationships

Base Type

Class Documentation

class OrderedInfSampler : public ompl::base::InformedSampler

An informed sampler wrapper that generates m samples and then returns them in order of the heuristic.

Public Functions

OrderedInfSampler(const InformedSamplerPtr &infSamplerPtr, unsigned int batchSize)

Construct an ordering wrapper around the provided informed sampler.

~OrderedInfSampler() override = default
virtual bool sampleUniform(State *statePtr, const Cost &maxCost) override

Sample uniformly in the subset of the state space whose heuristic solution estimates are less than the provided cost, i.e. in the interval [0, maxCost). Returns false if such a state was not found in the specified number of iterations.

virtual bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) override

Sample uniformly in the subset of the state space whose heuristic solution estimates are between the provided costs, [minCost, maxCost). Returns false if such a state was not found in the specified number of iterations.

virtual bool hasInformedMeasure() const override

Whether the wrapped sampler can provide a measure of the informed subset.

virtual 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 searched. Passes through to the wrapper sampler.