All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
StateSampler.h
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_SPACE_STATE_SAMPLER_
00038 #define OMPL_BASE_SPACE_STATE_SAMPLER_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/util/RandomNumbers.h"
00042 #include "ompl/util/ClassForward.h"
00043 #include <vector>
00044 #include <boost/noncopyable.hpp>
00045 
00046 namespace ompl
00047 {
00048     namespace base
00049     {
00050 
00051         ClassForward(StateSpace);
00052 
00054         ClassForward(StateSampler);
00055 
00060         class StateSampler : private boost::noncopyable
00061         {
00062         public:
00063 
00065             StateSampler(const StateSpace *space) : space_(space)
00066             {
00067             }
00068 
00069             virtual ~StateSampler(void)
00070             {
00071             }
00072 
00074             virtual void sampleUniform(State *state) = 0;
00075 
00077             virtual void sampleUniformNear(State *state, const State *near, const double distance) = 0;
00078 
00080             virtual void sampleGaussian(State *state, const State *mean, const double stdDev) = 0;
00081 
00082         protected:
00083 
00085             const StateSpace     *space_;
00086 
00088             RNG                  rng_;
00089         };
00090 
00092         class CompoundStateSampler : public StateSampler
00093         {
00094         public:
00095 
00097             CompoundStateSampler(const StateSpace* space) : StateSampler(space), samplerCount_(0)
00098             {
00099             }
00100 
00102             virtual ~CompoundStateSampler(void)
00103             {
00104             }
00105 
00112             virtual void addSampler(const StateSamplerPtr &sampler, double weightImportance);
00113 
00114             virtual void sampleUniform(State *state);
00115 
00116             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00117 
00118             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00119 
00120         protected:
00121 
00123             std::vector<StateSamplerPtr> samplers_;
00124 
00126             std::vector<double>          weightImportance_;
00127 
00128         private:
00129 
00131             unsigned int                samplerCount_;
00132 
00133         };
00134 
00135     }
00136 }
00137 
00138 
00139 #endif