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RandomDegreeVertex.cpp
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36
37/* Author: Andreas Orthey */
38
39#include <ompl/multilevel/datastructures/graphsampler/RandomDegreeVertex.h>
40#include <ompl/datastructures/PDF.h>
41#include <boost/foreach.hpp>
42#define foreach BOOST_FOREACH
43
44ompl::multilevel::BundleSpaceGraphSamplerRandomDegreeVertex::BundleSpaceGraphSamplerRandomDegreeVertex(
45 BundleSpaceGraph *bundleSpaceGraph)
46 : BaseT(bundleSpaceGraph)
47{
48}
49
50void ompl::multilevel::BundleSpaceGraphSamplerRandomDegreeVertex::sampleImplementation(base::State *xRandom)
51{
52 const BundleSpaceGraph::Graph &graph = bundleSpaceGraph_->getGraph();
53
55
56 foreach (BundleSpaceGraph::Vertex v, boost::vertices(graph))
57 {
58 pdf.add(graph[v], boost::degree(v, graph));
59 }
60
61 if (pdf.empty())
62 return;
63
64 BundleSpaceGraph::Configuration *q = pdf.sample(rng_.uniform01());
65 bundleSpaceGraph_->getBundle()->getStateSpace()->copyState(xRandom, q->state);
66}
A container that supports probabilistic sampling over weighted data.
Definition PDF.h:49
bool empty() const
Returns whether the PDF contains no data.
Definition PDF.h:263
_T & sample(double r) const
Returns a piece of data from the PDF according to the input sampling value, which must be between 0 a...
Definition PDF.h:132
Element * add(const _T &d, const double w)
Adds a piece of data with a given weight to the PDF. Returns a corresponding Element,...
Definition PDF.h:97
double uniform01()
Generate a random real between 0 and 1.
boost::adjacency_list< boost::vecS, boost::vecS, boost::undirectedS, Configuration *, EdgeInternalState, GraphMetaData > Graph
A Bundle-graph structure using boost::adjacency_list bundles.
virtual const Graph & getGraph() const
Get underlying boost graph representation.
const ompl::base::SpaceInformationPtr & getBundle() const
Get SpaceInformationPtr for Bundle.