StateSampler.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_STATE_SAMPLER_
#define OMPL_BASE_STATE_SAMPLER_

#include "ompl/base/State.h"
#include "ompl/util/RandomNumbers.h"
#include "ompl/util/ClassForward.h"
#include <vector>
#include <string>
#include <functional>

namespace ompl
{
    namespace base
    {

        OMPL_CLASS_FORWARD(StateSpace);


        OMPL_CLASS_FORWARD(StateSampler);

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

            StateSampler(const StateSpace *space) : space_(space)
            {
            }

            virtual ~StateSampler()
            {
            }

            virtual void sampleUniform(State *state) = 0;

            virtual void sampleUniformNear(State *state, const State *near, const double distance) = 0;

            virtual void sampleGaussian(State *state, const State *mean, const double stdDev) = 0;

        protected:

            const StateSpace *space_;

            RNG               rng_;
        };

        class CompoundStateSampler : public StateSampler
        {
        public:

            CompoundStateSampler(const StateSpace *space) : StateSampler(space), samplerCount_(0)
            {
            }

            virtual ~CompoundStateSampler()
            {
            }

            virtual void addSampler(const StateSamplerPtr &sampler, double weightImportance);

            virtual void sampleUniform(State *state);

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

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

        protected:

            std::vector<StateSamplerPtr> samplers_;

            std::vector<double>          weightImportance_;

        private:

            unsigned int                 samplerCount_;

        };

        class SubspaceStateSampler : public StateSampler
        {
        public:

            SubspaceStateSampler(const StateSpace *space, const StateSpace *subspace, double weight);
            virtual ~SubspaceStateSampler();

            virtual void sampleUniform(State *state);

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

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

        protected:

            const StateSpace        *subspace_;

            StateSamplerPtr          subspaceSampler_;

            double                   weight_;

            std::vector<std::string> subspaces_;

        private:

            State                   *work_;

            State                   *work2_;
        };

        typedef std::function<StateSamplerPtr(const StateSpace*)> StateSamplerAllocator;
    }
}


#endif