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CForestStateSampler.cpp
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34
35/* Author: Javier V. Gómez*/
36
37#include "ompl/geometric/planners/cforest/CForestStateSampler.h"
38
40{
41 if (!statesToSample_.empty())
42 getNextSample(state);
43 else
44 sampler_->sampleUniform(state);
45}
46
47void ompl::base::CForestStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
48{
49 if (!statesToSample_.empty())
50 getNextSample(state);
51 else
52 sampler_->sampleUniformNear(state, near, distance);
53}
54
55void ompl::base::CForestStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
56{
57 if (!statesToSample_.empty())
58 getNextSample(state);
59 else
60 sampler_->sampleGaussian(state, mean, stdDev);
61}
62
63void ompl::base::CForestStateSampler::setStatesToSample(const std::vector<const State *> &states)
64{
65 std::lock_guard<std::mutex> slock(statesLock_);
66 for (auto &i : statesToSample_)
67 space_->freeState(i);
68 statesToSample_.clear();
69
70 statesToSample_.reserve(states.size());
71 // push in reverse order, so that the states are popped in order in getNextSample()
72 for (auto state : states)
73 {
74 State *s = space_->allocState();
75 space_->copyState(s, state);
76 statesToSample_.push_back(s);
77 }
78}
79
81{
82 std::lock_guard<std::mutex> slock(statesLock_);
83 space_->copyState(state, statesToSample_.back());
84 space_->freeState(statesToSample_.back());
85 statesToSample_.pop_back();
86}
87
88void ompl::base::CForestStateSampler::clear()
89{
90 std::lock_guard<std::mutex> slock(statesLock_);
91 for (auto &i : statesToSample_)
92 space_->freeState(i);
93 statesToSample_.clear();
94 sampler_.reset();
95}
void sampleGaussian(State *state, const State *mean, double stdDev) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
std::vector< State * > statesToSample_
States to be sampled.
void sampleUniformNear(State *state, const State *near, double distance) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
void sampleUniform(State *state) override
It will sample the next state of the vector StatesToSample_. If this is empty, it will call the sampl...
void getNextSample(State *state)
Extracts the next sample when statesToSample_ is not empty.
void setStatesToSample(const std::vector< const State * > &states)
Fills the vector StatesToSample_ of states to be sampled in the next calls to sampleUniform(),...
StateSamplerPtr sampler_
Underlying, user-specified state sampler.
Definition of an abstract state.
Definition State.h:50