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 <boost/thread/mutex.hpp>
43 
44 namespace ompl
45 {
46  namespace base
47  {
48 
52  {
53  public:
54 
56  CForestStateSampler(const StateSpace *space, StateSamplerPtr sampler) : StateSampler(space), sampler_(sampler)
57  {
58  }
59 
62  {
63  clear();
64  }
65 
68  virtual void sampleUniform(State *state);
69 
72  virtual void sampleUniformNear(State *state, const State *near, const double distance);
73 
76  virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
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:
90 
92  void getNextSample(State *state);
93 
95  std::vector<State*> statesToSample_;
96 
99 
101  boost::mutex statesLock_;
102  };
103 
104  }
105 }
106 
107 #endif
const StateSpace * space_
The state space this sampler samples.
Definition: StateSampler.h:91
boost::mutex statesLock_
Lock to control the access to the statesToSample_ vector.
A boost shared pointer wrapper for ompl::base::StateSampler.
StateSamplerPtr sampler_
Underlying, user-specified state sampler.
CForestStateSampler(const StateSpace *space, StateSamplerPtr sampler)
Constructor.
Extended state sampler to use with the CForest planning algorithm. It wraps the user-specified state ...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
Representation of a space in which planning can be performed. Topology specific sampling, interpolation and distance are defined.
Definition: StateSpace.h:73
Definition of an abstract state.
Definition: State.h:50
void setStatesToSample(const std::vector< const State *> &states)
Fills the vector StatesToSample_ of states to be sampled in the next calls to sampleUniform(), sampleUniformNear() or sampleGaussian().
virtual void sampleGaussian(State *state, const State *mean, const double stdDev)
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
std::vector< State * > statesToSample_
States to be sampled.
void getNextSample(State *state)
Extracts the next sample when statesToSample_ is not empty.
Abstract definition of a state space sampler.
Definition: StateSampler.h:66
virtual void sampleUniformNear(State *state, const State *near, const double distance)
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
virtual void sampleUniform(State *state)
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...