RejectionInfSampler.h

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/* Authors: Jonathan Gammell */

#ifndef OMPL_BASE_SAMPLERS_INFORMED_GENERAL_REJECTION_INFORMED_SAMPLER_
#define OMPL_BASE_SAMPLERS_INFORMED_GENERAL_REJECTION_INFORMED_SAMPLER_

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

namespace ompl
{
    namespace base
    {
        class RejectionInfSampler : public InformedSampler
        {
        public:
            RejectionInfSampler(const ProblemDefinitionPtr probDefn, unsigned int maxNumberCalls);
            virtual ~RejectionInfSampler()
            {
            }

            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 double getInformedMeasure(const Cost &/*minCost*/, const Cost &/*maxCost*/) const;

        private:
            // Variables
            StateSamplerPtr baseSampler_;

            bool sampleUniform(State *statePtr, const Cost &maxCost, unsigned int *iterPtr);
        };
    }
}


#endif // OMPL_BASE_SAMPLERS_INFORMED_REJECTION_INFORMED_SAMPLER_