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StateSampler.cpp
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109 lines (98 loc) · 4.63 KB
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Rice University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Rice University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#include "ompl/base/StateSampler.h"
#include "ompl/base/StateSpace.h"
void ompl::base::CompoundStateSampler::addSampler(const StateSamplerPtr &sampler, double weightImportance)
{
samplers_.push_back(sampler);
weightImportance_.push_back(weightImportance);
samplerCount_ = samplers_.size();
}
void ompl::base::CompoundStateSampler::sampleUniform(State *state)
{
State **comps = state->as<CompoundState>()->components;
for (unsigned int i = 0; i < samplerCount_; ++i)
samplers_[i]->sampleUniform(comps[i]);
}
void ompl::base::CompoundStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
{
State **comps = state->as<CompoundState>()->components;
State **nearComps = near->as<CompoundState>()->components;
for (unsigned int i = 0; i < samplerCount_; ++i)
if (weightImportance_[i] > std::numeric_limits<double>::epsilon())
samplers_[i]->sampleUniformNear(comps[i], nearComps[i], distance * weightImportance_[i]);
else
samplers_[i]->sampleUniform(comps[i]);
}
void ompl::base::CompoundStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
{
State **comps = state->as<CompoundState>()->components;
State **meanComps = mean->as<CompoundState>()->components;
for (unsigned int i = 0; i < samplerCount_; ++i)
samplers_[i]->sampleGaussian(comps[i], meanComps[i], stdDev * weightImportance_[i]);
}
ompl::base::SubspaceStateSampler::SubspaceStateSampler(const StateSpace *space, const StateSpace *subspace,
double weight)
: StateSampler(space), subspace_(subspace), weight_(weight)
{
work_ = subspace_->allocState();
work2_ = subspace_->allocState();
subspaceSampler_ = subspace_->allocStateSampler();
space_->getCommonSubspaces(subspace_, subspaces_);
if (subspaces_.empty())
OMPL_WARN("Subspace state sampler did not find any common subspaces. Sampling will have no effect.");
}
ompl::base::SubspaceStateSampler::~SubspaceStateSampler()
{
subspace_->freeState(work_);
subspace_->freeState(work2_);
}
void ompl::base::SubspaceStateSampler::sampleUniform(State *state)
{
subspaceSampler_->sampleUniform(work_);
copyStateData(space_, state, subspace_, work_, subspaces_);
}
void ompl::base::SubspaceStateSampler::sampleUniformNear(State *state, const State *near, const double distance)
{
copyStateData(subspace_, work2_, space_, near);
subspaceSampler_->sampleUniformNear(work_, work2_, distance * weight_);
copyStateData(space_, state, subspace_, work_, subspaces_);
}
void ompl::base::SubspaceStateSampler::sampleGaussian(State *state, const State *mean, const double stdDev)
{
copyStateData(subspace_, work2_, space_, mean);
subspaceSampler_->sampleGaussian(work_, work2_, stdDev * weight_);
copyStateData(space_, state, subspace_, work_, subspaces_);
}