ompl/base/src/StateSampler.cpp
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #include "ompl/base/StateSampler.h" 00038 #include "ompl/base/StateSpace.h" 00039 00040 void ompl::base::CompoundStateSampler::addSampler(const StateSamplerPtr &sampler, double weightImportance) 00041 { 00042 samplers_.push_back(sampler); 00043 weightImportance_.push_back(weightImportance); 00044 samplerCount_ = samplers_.size(); 00045 } 00046 00047 void ompl::base::CompoundStateSampler::sampleUniform(State *state) 00048 { 00049 State **comps = state->as<CompoundState>()->components; 00050 for (unsigned int i = 0 ; i < samplerCount_ ; ++i) 00051 samplers_[i]->sampleUniform(comps[i]); 00052 } 00053 00054 void ompl::base::CompoundStateSampler::sampleUniformNear(State *state, const State *near, const double distance) 00055 { 00056 State **comps = state->as<CompoundState>()->components; 00057 State **nearComps = near->as<CompoundState>()->components; 00058 for (unsigned int i = 0 ; i < samplerCount_ ; ++i) 00059 if (weightImportance_[i] > std::numeric_limits<double>::epsilon()) 00060 samplers_[i]->sampleUniformNear(comps[i], nearComps[i], distance * weightImportance_[i]); 00061 else 00062 samplers_[i]->sampleUniform(comps[i]); 00063 00064 } 00065 00066 void ompl::base::CompoundStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev) 00067 { 00068 State **comps = state->as<CompoundState>()->components; 00069 State **meanComps = mean->as<CompoundState>()->components; 00070 for (unsigned int i = 0 ; i < samplerCount_ ; ++i) 00071 samplers_[i]->sampleGaussian(comps[i], meanComps[i], stdDev * weightImportance_[i]); 00072 } 00073 00074 ompl::base::SubspaceStateSampler::SubspaceStateSampler(const StateSpace *space, const StateSpace *subspace, double weight) : StateSampler(space), subspace_(subspace), weight_(weight) 00075 { 00076 work_ = subspace_->allocState(); 00077 work2_ = subspace_->allocState(); 00078 subspaceSampler_ = subspace_->allocStateSampler(); 00079 space_->getCommonSubspaces(subspace_, subspaces_); 00080 if (subspaces_.empty()) 00081 OMPL_WARN("Subspace state sampler did not find any common subspaces. Sampling will have no effect."); 00082 } 00083 00084 ompl::base::SubspaceStateSampler::~SubspaceStateSampler() 00085 { 00086 subspace_->freeState(work_); 00087 subspace_->freeState(work2_); 00088 } 00089 00090 void ompl::base::SubspaceStateSampler::sampleUniform(State *state) 00091 { 00092 subspaceSampler_->sampleUniform(work_); 00093 copyStateData(space_, state, subspace_, work_, subspaces_); 00094 } 00095 00096 void ompl::base::SubspaceStateSampler::sampleUniformNear(State *state, const State *near, const double distance) 00097 { 00098 copyStateData(subspace_, work2_, space_, near); 00099 subspaceSampler_->sampleUniformNear(work_, work2_, distance * weight_); 00100 copyStateData(space_, state, subspace_, work_, subspaces_); 00101 } 00102 00103 void ompl::base::SubspaceStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev) 00104 { 00105 copyStateData(subspace_, work2_, space_, mean); 00106 subspaceSampler_->sampleGaussian(work_, work2_, stdDev * weight_); 00107 copyStateData(space_, state, subspace_, work_, subspaces_); 00108 }