RandomDegreeVertex.cpp

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/* Author: Andreas Orthey */
 
#include <ompl/multilevel/datastructures/graphsampler/RandomDegreeVertex.h>
#include <ompl/datastructures/PDF.h>
#include <boost/foreach.hpp>
#define foreach BOOST_FOREACH
 
ompl::multilevel::BundleSpaceGraphSamplerRandomDegreeVertex::BundleSpaceGraphSamplerRandomDegreeVertex(
    BundleSpaceGraph *bundleSpaceGraph)
  : BaseT(bundleSpaceGraph)
{
}
 
void ompl::multilevel::BundleSpaceGraphSamplerRandomDegreeVertex::sampleImplementation(base::State *xRandom)
{
    const BundleSpaceGraph::Graph &graph = bundleSpaceGraph_->getGraph();
 
    ompl::PDF<BundleSpaceGraph::Configuration *> pdf;
 
    foreach (BundleSpaceGraph::Vertex v, boost::vertices(graph))
    {
        pdf.add(graph[v], boost::degree(v, graph));
    }
 
    if (pdf.empty())
        return;
 
    BundleSpaceGraph::Configuration *q = pdf.sample(rng_.uniform01());
    bundleSpaceGraph_->getBundle()->getStateSpace()->copyState(xRandom, q->state);
}