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InformedStateSampler.cpp
49 InformedSampler::InformedSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls)
50 : probDefn_(probDefn), space_(probDefn->getSpaceInformation()->getStateSpace()), numIters_(maxNumberCalls)
123 InformedStateSampler::InformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls,
171 void InformedStateSampler::sampleUniformNear(State *statePtr, const State *near, const double distance)
178 void InformedStateSampler::sampleGaussian(State *statePtr, const State *mean, const double stdDev)
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition Cost.h:48
virtual double getInformedMeasure(const Cost ¤tCost) const =0
The measure of the subset of the state space defined by the current solution cost that is being searc...
OptimizationObjectivePtr opt_
A copy of the optimization objective.
Definition InformedStateSampler.h:115
unsigned int getMaxNumberOfIters() const
Definition InformedStateSampler.cpp:115
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...
Definition InformedStateSampler.cpp:77
ProblemDefinitionPtr probDefn_
A copy of the problem definition.
Definition InformedStateSampler.h:113
unsigned int numIters_
The number of iterations I'm allowed to attempt.
Definition InformedStateSampler.h:119
ProblemDefinitionPtr getProblemDefn() const
Definition InformedStateSampler.cpp:110
void sampleUniform(State *statePtr) override
Sample uniformly in the subset of the state space whose heuristic solution estimates are less than th...
Definition InformedStateSampler.cpp:154
std::function< Cost()> GetCurrentCostFunc
The definition of a function pointer for querying the current solution cost.
Definition InformedStateSampler.h:127
void sampleUniformNear(State *statePtr, const State *near, double distance) override
By default sampleUniformNear throws. This can be overloaded by a specific informed sampler if desired...
Definition InformedStateSampler.cpp:171
InformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls, const GetCurrentCostFunc &costFunc)
Construct a sampler that only generates states with a heuristic solution estimate that is less than t...
Definition InformedStateSampler.cpp:123
void sampleGaussian(State *statePtr, const State *mean, double stdDev) override
By default sampleGaussian throws. This can be overloaded by a specific informed sampler if desired.
Definition InformedStateSampler.cpp:178
A shared pointer wrapper for ompl::base::ProblemDefinition.
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition ConstrainedSpaceInformation.h:55
Main namespace. Contains everything in this library.
Definition MultiLevelPlanarManipulatorDemo.cpp:66