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StateSampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_BASE_SPACE_STATE_SAMPLER_
00038 #define OMPL_BASE_SPACE_STATE_SAMPLER_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/util/RandomNumbers.h"
00042 #include "ompl/util/ClassForward.h"
00043 #include <vector>
00044 #include <boost/function.hpp>
00045 #include <boost/noncopyable.hpp>
00046 
00047 namespace ompl
00048 {
00049     namespace base
00050     {
00051 
00053         ClassForward(StateSpace);
00055 
00057 
00058         ClassForward(StateSampler);
00060 
00065         class StateSampler : private boost::noncopyable
00066         {
00067         public:
00068 
00070             StateSampler(const StateSpace *space) : space_(space)
00071             {
00072             }
00073 
00074             virtual ~StateSampler(void)
00075             {
00076             }
00077 
00079             virtual void sampleUniform(State *state) = 0;
00080 
00082             virtual void sampleUniformNear(State *state, const State *near, const double distance) = 0;
00083 
00085             virtual void sampleGaussian(State *state, const State *mean, const double stdDev) = 0;
00086 
00087         protected:
00088 
00090             const StateSpace     *space_;
00091 
00093             RNG                  rng_;
00094         };
00095 
00097         class CompoundStateSampler : public StateSampler
00098         {
00099         public:
00100 
00102             CompoundStateSampler(const StateSpace* space) : StateSampler(space), samplerCount_(0)
00103             {
00104             }
00105 
00107             virtual ~CompoundStateSampler(void)
00108             {
00109             }
00110 
00117             virtual void addSampler(const StateSamplerPtr &sampler, double weightImportance);
00118 
00119             virtual void sampleUniform(State *state);
00120 
00121             virtual void sampleUniformNear(State *state, const State *near, const double distance);
00122 
00123             virtual void sampleGaussian(State *state, const State *mean, const double stdDev);
00124 
00125         protected:
00126 
00128             std::vector<StateSamplerPtr> samplers_;
00129 
00131             std::vector<double>          weightImportance_;
00132 
00133         private:
00134 
00136             unsigned int                samplerCount_;
00137 
00138         };
00139 
00141         typedef boost::function<StateSamplerPtr(const StateSpace*)> StateSamplerAllocator;
00142     }
00143 }
00144 
00145 
00146 #endif