Loading...
Searching...
No Matches
OrderedInfSampler.cpp
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2014, University of Toronto
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the University of Toronto nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Authors: Jonathan Gammell */
36
37#include "ompl/base/samplers/informed/OrderedInfSampler.h"
38#include "ompl/base/OptimizationObjective.h"
39
40namespace ompl
41{
42 namespace base
43 {
44 // The default rejection-sampling class:
45 OrderedInfSampler::OrderedInfSampler(const InformedSamplerPtr &infSamplerPtr, unsigned int batchSize)
46 : InformedSampler(infSamplerPtr->getProblemDefn(), infSamplerPtr->getMaxNumberOfIters())
47 , infSampler_(infSamplerPtr)
48 , batchSize_(batchSize)
49 , orderedSamples_([this](const State *lhs, const State *rhs)
50 {
51 return queueComparator(lhs, rhs);
52 })
53 {
54 }
55
56 bool OrderedInfSampler::sampleUniform(State *statePtr, const Cost &maxCost)
57 {
58 // Variables
59 // Whether a sampler has been found and returned
60 bool found = false;
61
62 // Repeat until a valid pointer is found
63 while (!found)
64 {
65 // Check if the batch is empty
66 if (orderedSamples_.empty())
67 {
68 // It is, recreate:
69 createBatch(maxCost);
70 }
71
72 // Does the front of the priority queue meet our requirement (as the requirement may have changed since
73 // the batch was generated)
74 if (InformedSampler::opt_->isCostBetterThan(InformedSampler::heuristicSolnCost(orderedSamples_.top()),
75 maxCost))
76 {
77 // Copy the front of the priority queue.
78 InformedSampler::space_->copyState(statePtr, orderedSamples_.top());
79
80 // Free the pointer in the queue
81 InformedSampler::space_->freeState(orderedSamples_.top());
82
83 // Pop it
84 orderedSamples_.pop();
85
86 // And mark that we've found a sample
87 found = true;
88 }
89 else
90 {
91 // It does not, clear the queue
92 clearBatch();
93 }
94 }
95
96 return found;
97 }
98
100 {
101 throw ompl::Exception("Not implemented");
102
103 return false;
104 }
105
107 {
108 return infSampler_->hasInformedMeasure();
109 }
110
111 double OrderedInfSampler::getInformedMeasure(const Cost &currentCost) const
112 {
113 return infSampler_->getInformedMeasure(currentCost);
114 }
115
116 bool OrderedInfSampler::queueComparator(const State *a, const State *b)
117 {
120 }
121
122 void OrderedInfSampler::createBatch(const Cost &maxCost)
123 {
124 // Allocate, create and store batchSize_ samples
125 for (unsigned int i = 0u; i < batchSize_; ++i)
126 {
127 // Allocate a state pointer
128 State *newStatePtr = InformedSampler::space_->allocState();
129
130 // Sample the state pointer using the wrapped sampler
131 infSampler_->sampleUniform(newStatePtr, maxCost);
132
133 // Store it into the queue
134 orderedSamples_.push(newStatePtr);
135 }
136 }
137
138 void OrderedInfSampler::createBatch(const Cost &, const Cost &)
139 {
140 throw ompl::Exception("Not implemented");
141 }
142
143 void OrderedInfSampler::clearBatch()
144 {
145 // Iterate through the entire queue, removing the element and freeing it.
146 while (!orderedSamples_.empty())
147 {
148 // Free the front state
149 InformedSampler::space_->freeState(orderedSamples_.top());
150
151 // Pop the front state
152 orderedSamples_.pop();
153 }
154 }
155 }; // base
156}; // ompl
The exception type for ompl.
Definition Exception.h:47
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
OptimizationObjectivePtr opt_
A copy of the optimization objective.
unsigned int getMaxNumberOfIters() const
virtual Cost heuristicSolnCost(const State *statePtr) const
A helper function to calculate the heuristic estimate of the solution cost for a given state using th...
ProblemDefinitionPtr getProblemDefn() const
StateSpacePtr space_
A copy of the state space.
bool sampleUniform(State *statePtr, const Cost &maxCost) override
Sample uniformly in the subset of the state space whose heuristic solution estimates are less than th...
OrderedInfSampler(const InformedSamplerPtr &infSamplerPtr, unsigned int batchSize)
Construct an ordering wrapper around the provided informed sampler.
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 searc...
bool hasInformedMeasure() const override
Whether the wrapped sampler can provide a measure of the informed subset.
Definition of an abstract state.
Definition State.h:50
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Main namespace. Contains everything in this library.