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CForestStateSampler.h
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34
35/* Author: Javier V. Gómez */
36
37#ifndef OMPL_BASE_SAMPLERS_CFOREST_STATE_SAMPLER_
38#define OMPL_BASE_SAMPLERS_CFOREST_STATE_SAMPLER_
39
40#include "ompl/base/StateSpace.h"
41
42#include <mutex>
43#include <utility>
44
45namespace ompl
46{
47 namespace base
48 {
52 {
53 public:
56 : StateSampler(space), sampler_(std::move(sampler))
57 {
58 }
59
62 {
63 clear();
64 }
65
68 void sampleUniform(State *state) override;
69
72 void sampleUniformNear(State *state, const State *near, double distance) override;
73
76 void sampleGaussian(State *state, const State *mean, double stdDev) override;
77
78 const StateSpace *getStateSpace() const
79 {
80 return space_;
81 }
82
85 void setStatesToSample(const std::vector<const State *> &states);
86
87 void clear();
88
89 protected:
91 void getNextSample(State *state);
92
94 std::vector<State *> statesToSample_;
95
98
100 std::mutex statesLock_;
101 };
102 }
103}
104
105#endif
Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state ...
std::mutex statesLock_
Lock to control the access to the statesToSample_ vector.
void sampleGaussian(State *state, const State *mean, double stdDev) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
~CForestStateSampler() override
Destructor.
std::vector< State * > statesToSample_
States to be sampled.
void sampleUniformNear(State *state, const State *near, double distance) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
void sampleUniform(State *state) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
CForestStateSampler(const StateSpace *space, StateSamplerPtr sampler)
Constructor.
void getNextSample(State *state)
Extracts the next sample when statesToSample_ is not empty.
void setStatesToSample(const std::vector< const State * > &states)
Fills the vector StatesToSample_ of states to be sampled in the next calls to sampleUniform(),...
StateSamplerPtr sampler_
Underlying, user-specified state sampler.
A shared pointer wrapper for ompl::base::StateSampler.
Abstract definition of a state space sampler.
Definition: StateSampler.h:65
const StateSpace * space_
The state space this sampler samples.
Definition: StateSampler.h:104
Representation of a space in which planning can be performed. Topology specific sampling,...
Definition: StateSpace.h:71
Definition of an abstract state.
Definition: State.h:50
Main namespace. Contains everything in this library.
STL namespace.