.. _program_listing_file_src_ompl_base_StateSampler.h:

Program Listing for File StateSampler.h
=======================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_base_StateSampler.h>` (``src/ompl/base/StateSampler.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_BASE_STATE_SAMPLER_
   #define OMPL_BASE_STATE_SAMPLER_
   
   #include "ompl/base/State.h"
   #include "ompl/util/RandomNumbers.h"
   #include "ompl/util/ClassForward.h"
   #include <vector>
   #include <string>
   #include <functional>
   
   namespace ompl
   {
       namespace base
       {
           OMPL_CLASS_FORWARD(StateSpace);
   
   
           OMPL_CLASS_FORWARD(StateSampler);
   
           class StateSampler
           {
           public:
               // non-copyable
               StateSampler(const StateSampler &) = delete;
               StateSampler &operator=(const StateSampler &) = delete;
   
               StateSampler(const StateSpace *space) : space_(space)
               {
               }
   
               virtual ~StateSampler() = default;
   
               virtual void sampleUniform(State *state) = 0;
   
               virtual void sampleUniformNear(State *state, const State *near, double distance) = 0;
   
               virtual void sampleGaussian(State *state, const State *mean, double stdDev) = 0;
   
           protected:
               const StateSpace *space_;
   
               RNG rng_;
           };
   
           class CompoundStateSampler : public StateSampler
           {
           public:
               CompoundStateSampler(const StateSpace *space) : StateSampler(space), samplerCount_(0)
               {
               }
   
               ~CompoundStateSampler() override = default;
   
               virtual void addSampler(const StateSamplerPtr &sampler, double weightImportance);
   
               void sampleUniform(State *state) override;
   
               void sampleUniformNear(State *state, const State *near, double distance) override;
   
               void sampleGaussian(State *state, const State *mean, double stdDev) override;
   
           protected:
               std::vector<StateSamplerPtr> samplers_;
   
               std::vector<double> weightImportance_;
   
           private:
               unsigned int samplerCount_;
           };
   
           class SubspaceStateSampler : public StateSampler
           {
           public:
               SubspaceStateSampler(const StateSpace *space, const StateSpace *subspace, double weight);
               ~SubspaceStateSampler() override;
   
               void sampleUniform(State *state) override;
   
               void sampleUniformNear(State *state, const State *near, double distance) override;
   
               void sampleGaussian(State *state, const State *mean, double stdDev) override;
   
           protected:
               const StateSpace *subspace_;
   
               StateSamplerPtr subspaceSampler_;
   
               double weight_;
   
               std::vector<std::string> subspaces_;
   
           private:
               State *work_;
   
               State *work2_;
           };
   
           using StateSamplerAllocator = std::function<StateSamplerPtr(const StateSpace *)>;
       }
   }
   
   #endif