InformedStateSampler.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2014, University of Toronto
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the University of Toronto nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Authors: Jonathan Gammell */

#ifndef OMPL_BASE_SAMPLERS_INFORMED_SAMPLER_
#define OMPL_BASE_SAMPLERS_INFORMED_SAMPLER_

// We inherit from StateSampler
#include "ompl/base/StateSampler.h"
// Deriving functions must be able to sample within a given cost
#include "ompl/base/Cost.h"
// We use a pointer to the problem definition to access problem and solution data.
#include "ompl/base/ProblemDefinition.h"

//For std::function
#include <functional>

namespace ompl
{
    namespace base
    {
        OMPL_CLASS_FORWARD(InformedSampler);
        OMPL_CLASS_FORWARD(InformedStateSampler);


        class InformedSampler
        {
        public:
            // non-copyable
            InformedSampler(const InformedSampler&) = delete;
            InformedSampler& operator=(const InformedSampler&) = delete;

            InformedSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls);

            virtual ~InformedSampler(void)
            {
            }

            virtual bool sampleUniform(State *statePtr, const Cost &maxCost) = 0;

            virtual bool sampleUniform(State *statePtr, const Cost &minCost, const Cost &maxCost) = 0;

            virtual bool hasInformedMeasure() const = 0;

            virtual double getInformedMeasure(const Cost &currentCost) const = 0;

            virtual double getInformedMeasure(const Cost &minCost, const Cost &maxCost) const;

            virtual Cost heuristicSolnCost(const State *statePtr) const;

        protected:
            ProblemDefinitionPtr probDefn_;
            OptimizationObjectivePtr opt_;
            StateSpacePtr space_;
            unsigned int numIters_;
        };




        class InformedStateSampler : public StateSampler
        {
        public:

            typedef std::function<Cost ()> GetCurrentCostFunc;

            InformedStateSampler(const ProblemDefinitionPtr &probDefn, unsigned int maxNumberCalls, const GetCurrentCostFunc &costFunc);

            InformedStateSampler(const ProblemDefinitionPtr &probDefn, const GetCurrentCostFunc &costFunc, const InformedSamplerPtr &infSampler);

            virtual ~InformedStateSampler(void)
            {
            }

            virtual void sampleUniform(State *statePtr);

            virtual void sampleUniformNear(State *statePtr, const State *near, const double distance);

            virtual void sampleGaussian(State *statePtr, const State *mean, const double stdDev);

        private:
            void commonConstructor(const GetCurrentCostFunc &costFunc, const InformedSamplerPtr &infSampler);

            GetCurrentCostFunc bestCostFunc_;
            StateSamplerPtr baseSampler_;
            InformedSamplerPtr infSampler_;
        };
    }
}


#endif // OMPL_BASE_SAMPLERS_INFORMED_SAMPLER_