GaussianSampler.h

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#ifndef GAUSSIAN_SAMPLER_H_
#define GAUSSIAN_SAMPLER_H_
 
#include "SamplerMethod.h"
 
class GaussianSampler : public SamplerMethod {
 
  public:
 
    GaussianSampler(string _vcLabel = "", string _dmLabel = "",
        double _d = 0.5, bool _useBoundary = false);
 
    GaussianSampler(XMLNode& _node);
 
    void ParseXML(XMLNode& _node);
 
    virtual void Print(ostream& _os) const;
 
    virtual bool Sampler(Cfg& _cfg, const Boundary* const _boundary,
        vector<Cfg>& _result, vector<Cfg>& _collision);
 
    // Functions to change parameters that can't be controlled on XML.
    void ChangeGaussianParams(double newMean, double newStd);
    void ReturnNewSamplesOnly(bool setting);
 
  private:
    // from XML.
    double m_d;  //Gaussian d-value obtained from distribution
    bool m_useBoundary;  //Use Bbox as an obstacle?
    string m_vcLabel, m_dmLabel;
 
    // Non-XML: For if we wish to internally override mean and standard deviation:
    double mean;
    double std;
    // if we want only the new samples generated by the normal distribution. no means. 
    bool newSamplesOnly{false}; 
};
 
#endif