constrained_sampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
40 
42  const constraint_samplers::ConstraintSamplerPtr& cs)
43  : ob::StateSampler(pc->getOMPLStateSpace().get())
44  , planning_context_(pc)
45  , default_(space_->allocDefaultStateSampler())
46  , constraint_sampler_(cs)
47  , work_state_(pc->getCompleteInitialRobotState())
48  , constrained_success_(0)
49  , constrained_failure_(0)
50 {
51  inv_dim_ = space_->getDimension() > 0 ? 1.0 / (double)space_->getDimension() : 1.0;
52 }
53 
55 {
56  if (constrained_success_ == 0)
57  return 0.0;
58  else
60 }
61 
63 {
64  // moveit::Profiler::ScopedBlock sblock("sampleWithConstraints");
65 
68  {
69  planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_state_);
70  if (space_->satisfiesBounds(state))
71  {
73  return true;
74  }
75  }
77  return false;
78 }
79 
81 {
82  if (!sampleC(state) && !sampleC(state) && !sampleC(state))
83  default_->sampleUniform(state);
84 }
85 
86 void ompl_interface::ConstrainedSampler::sampleUniformNear(ob::State* state, const ob::State* near,
87  const double distance)
88 {
89  if (sampleC(state) || sampleC(state) || sampleC(state))
90  {
91  double total_d = space_->distance(state, near);
92  if (total_d > distance)
93  {
94  double dist = pow(rng_.uniform01(), inv_dim_) * distance;
95  space_->interpolate(near, state, dist / total_d, state);
96  }
97  }
98  else
99  default_->sampleUniformNear(state, near, distance);
100 }
101 
102 void ompl_interface::ConstrainedSampler::sampleGaussian(ob::State* state, const ob::State* mean, const double stdDev)
103 {
104  if (sampleC(state) || sampleC(state) || sampleC(state))
105  {
106  double total_d = space_->distance(state, mean);
107  double distance = rng_.gaussian(0.0, stdDev);
108  if (total_d > distance)
109  {
110  double dist = pow(rng_.uniform01(), inv_dim_) * distance;
111  space_->interpolate(mean, state, dist / total_d, state);
112  }
113  }
114  else
115  default_->sampleGaussian(state, mean, stdDev);
116 }
constraint_samplers::ConstraintSamplerPtr constraint_sampler_
ompl::base::StateSamplerPtr default_
ConstrainedSampler(const ModelBasedPlanningContext *pc, const constraint_samplers::ConstraintSamplerPtr &cs)
Default constructor.
const robot_state::RobotState & getCompleteInitialRobotState() const
virtual void sampleGaussian(ompl::base::State *state, const ompl::base::State *mean, const double stdDev)
Sample a state using the specified Gaussian.
virtual void sampleUniformNear(ompl::base::State *state, const ompl::base::State *near, const double distance)
Sample a state (uniformly) within a certain distance of another state.
def get(url)
INLINE Rall1d< T, V, S > pow(const Rall1d< T, V, S > &arg, double m)
bool sampleC(ompl::base::State *state)
virtual void sampleUniform(ompl::base::State *state)
Sample a state (uniformly)
double distance(const urdf::Pose &transform)
const ModelBasedPlanningContext * planning_context_
const ModelBasedStateSpacePtr & getOMPLStateSpace() const


ompl
Author(s): Ioan Sucan
autogenerated on Sat Sep 15 2018 02:51:46