GraphSampler.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_GRAPHSAMPLER_SAMPLER_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_DATASTRUCTURES_GRAPHSAMPLER_SAMPLER_
#include <ompl/multilevel/datastructures/BundleSpaceGraph.h>
#include <ompl/multilevel/datastructures/ParameterExponentialDecay.h>
#include <boost/random/linear_congruential.hpp>
#include <boost/random/variate_generator.hpp>
 
namespace ompl
{
    namespace multilevel
    {
        class BundleSpaceGraphSampler
        {
        protected:
            using Vertex = ompl::multilevel::BundleSpaceGraph::Vertex;
 
        public:
            BundleSpaceGraphSampler() = delete;
 
            BundleSpaceGraphSampler(BundleSpaceGraph *);
 
            virtual void sample(base::State *xRandom);
 
            void setPathBiasStartSegment(double);
 
            double getPathBiasStartSegment();
 
            void disableSegmentBias();
 
            void disablePathBias();
 
            virtual void clear();
 
        protected:
            virtual void sampleImplementation(base::State *xRandom) = 0;
 
            using RNGType = boost::minstd_rand;
            RNGType rng_boost;
            RNG rng_;
 
            BundleSpaceGraph *bundleSpaceGraph_;
 
            double epsilonGraphThickening_{0.0};
 
            double epsilonGraphThickeningFraction_{1e-3};
 
            double pathBiasFixed_{0.1};
 
            double pathBiasStartSegment_{0.0};
 
            bool segmentBias_{true};
 
            double exponentialDecayLambda_{1e-5};
 
            unsigned long long counterPathSampling_{0};
 
            unsigned long long counterGraphSampling_{0};
 
            ParameterExponentialDecay pathBiasDecay_;
            ParameterExponentialDecay graphThickeningGrowth_;
            ParameterExponentialDecay pathThickeningGrowth_;
        };
    }  // namespace multilevel
}  // namespace ompl
#endif