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 #include "ompl/base/StateSampler.h" 00038 #include "ompl/base/StateSpace.h" 00039 00040 void ompl::base::CompoundStateSampler::addSampler(const StateSamplerPtr &sampler, double weightImportance) 00041 { 00042 samplers_.push_back(sampler); 00043 weightImportance_.push_back(weightImportance); 00044 samplerCount_ = samplers_.size(); 00045 } 00046 00047 void ompl::base::CompoundStateSampler::sampleUniform(State *state) 00048 { 00049 State **comps = state->as<CompoundState>()->components; 00050 for (unsigned int i = 0 ; i < samplerCount_ ; ++i) 00051 samplers_[i]->sampleUniform(comps[i]); 00052 } 00053 00054 void ompl::base::CompoundStateSampler::sampleUniformNear(State *state, const State *near, const double distance) 00055 { 00056 State **comps = state->as<CompoundState>()->components; 00057 State **nearComps = near->as<CompoundState>()->components; 00058 for (unsigned int i = 0 ; i < samplerCount_ ; ++i) 00059 samplers_[i]->sampleUniformNear(comps[i], nearComps[i], weightImportance_[i] * distance); 00060 } 00061 00062 void ompl::base::CompoundStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev) 00063 { 00064 State **comps = state->as<CompoundState>()->components; 00065 State **meanComps = mean->as<CompoundState>()->components; 00066 for (unsigned int i = 0 ; i < samplerCount_ ; ++i) 00067 samplers_[i]->sampleGaussian(comps[i], meanComps[i], stdDev); 00068 }