PathLengthDirectInfSampler.h

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/* Authors: Jonathan Gammell */

#ifndef OMPL_BASE_SAMPLERS_INFORMED_PATH_LENGTH_DIRECT_INFORMED_SAMPLER_
#define OMPL_BASE_SAMPLERS_INFORMED_PATH_LENGTH_DIRECT_INFORMED_SAMPLER_

#include <ompl/config.h>
#if !OMPL_HAVE_EIGEN3
#error The PathLengthDirectInfSampler class uses Eigen3, which was not detected at build time.
#endif

// We inherit from InformedStateSampler
#include "ompl/base/samplers/InformedStateSampler.h"

// For std::list
#include <list>

namespace ompl
{
    namespace base
    {
        class PathLengthDirectInfSampler : public InformedSampler
        {
        public:

            PathLengthDirectInfSampler(const ProblemDefinitionPtr probDefn, unsigned int maxNumberCalls);
            virtual ~PathLengthDirectInfSampler();

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

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

            virtual bool hasInformedMeasure() const;

            virtual double getInformedMeasure(const Cost &currentCost) const;

            virtual Cost heuristicSolnCost(const State *statePtr) const;

        private:
            typedef std::shared_ptr<const ompl::ProlateHyperspheroid> ProlateHyperspheroidCPtr;

            // Helper functions:
            // High level
            bool sampleUniform(State *statePtr, const Cost &maxCost, unsigned int *iters);

            bool sampleBoundsRejectPhs(State* statePtr, unsigned int *iters);

            bool samplePhsRejectBounds(State *statePtr, unsigned int *iters);

            // Low level
            std::vector<double> getInformedSubstate(const State *statePtr) const;

            void createFullState(State * statePtr, const std::vector<double> &informedVector);

            void updatePhsDefinitions(const Cost &maxCost);

            ompl::ProlateHyperspheroidPtr randomPhsPtr();

            bool keepSample(const std::vector<double>& informedVector);

            bool isInAnyPhs(const std::vector<double>& informedVector) const;

            bool isInPhs(const ProlateHyperspheroidCPtr &phsCPtr, const std::vector<double> &informedVector) const;

            unsigned int numberOfPhsInclusions(const std::vector<double>& informedVector) const;





            // Variables
            std::list<ompl::ProlateHyperspheroidPtr> listPhsPtrs_;

            double summedMeasure_;

            unsigned int informedIdx_;

            StateSpacePtr informedSubSpace_;

            unsigned int uninformedIdx_;

            StateSpacePtr uninformedSubSpace_;

            StateSamplerPtr baseSampler_;

            StateSamplerPtr uninformedSubSampler_;

            RNG rng_;
        }; // PathLengthDirectInfSampler
    }
}


#endif // OMPL_BASE_SAMPLERS_INFORMED_DIRECT_PATH_LENGTH_INFORMED_SAMPLER_