SamplerMethod.h

Go to the documentation of this file.

#ifndef PMPL_SAMPLER_METHOD_H_
#define PMPL_SAMPLER_METHOD_H_
 
#ifdef _PARALLEL
#include "runtime.hpp"
#endif
 
#include "MPLibrary/MPBaseObject.h"
#include "Utilities/MetricUtils.h"
#include "Utilities/MPUtils.h"
 
#include <iostream>
 
class Boundary;
class Environment;
 
#ifdef _PARALLEL
class SamplerMethod : public MPBaseObject, public stapl::p_object {
#else
class SamplerMethod : public MPBaseObject {
#endif
 
  public:
 
 
    typedef typename MPBaseObject::GroupCfgType GroupCfgType;
 
 
    typedef typename std::vector<Cfg>::iterator InputIterator;
    typedef typename std::back_insert_iterator<std::vector<Cfg>> OutputIterator;
    typedef typename std::vector<GroupCfgType>::iterator GroupInputIterator;
    typedef typename std::back_insert_iterator<std::vector<GroupCfgType>> GroupOutputIterator;
 
    typedef std::map<Robot*, const Boundary*> BoundaryMap;
 
 
    SamplerMethod() = default;
 
    SamplerMethod(XMLNode& _node);
 
    virtual ~SamplerMethod() = 0;
 
 
    virtual void Sample(size_t _numNodes, size_t _maxAttempts,
        const Boundary* const _boundary, OutputIterator _valid,
        OutputIterator _invalid);
    virtual void Sample(size_t _numNodes, size_t _maxAttempts,
        const Boundary* const _boundary, OutputIterator _valid);
 
    virtual void Sample(size_t _numNodes, size_t _maxAttempts,
        const Boundary* const _robotBoundary, const Boundary* const _eeBoundary,
        OutputIterator _valid, OutputIterator _invalid);
    virtual void Sample(size_t _numNodes, size_t _maxAttempts,
        const Boundary* const _robotBoundary, const Boundary* const _eeBoundary,
        OutputIterator _valid);
 
    virtual void Filter(InputIterator _first, InputIterator _last,
        size_t _maxAttempts, const Boundary* const _boundary,
        OutputIterator _valid, OutputIterator _invalid);
    void Filter(InputIterator _first, InputIterator _last,
        size_t _maxAttempts, const Boundary* const _boundary,
        OutputIterator _valid);
 
 
    virtual void Sample(size_t _numNodes, size_t _maxAttempts,
        const Boundary* const _boundary, GroupOutputIterator _valid,
        GroupOutputIterator _invalid);
 
    virtual void Sample(size_t _numNodes, size_t _maxAttempts,
        const Boundary* const _boundary, GroupOutputIterator _valid);
 
    virtual void Sample(size_t _numNodes, size_t _maxAttempts,
        const BoundaryMap& _boundary, GroupOutputIterator _valid,
        GroupOutputIterator _invalid);
    virtual void Sample(size_t _numNodes, size_t _maxAttempts,
        const BoundaryMap& _boundary, GroupOutputIterator _valid);
 
    virtual void Filter(GroupInputIterator _first, GroupInputIterator _last,
        size_t _maxAttempts, const Boundary* const _boundary,
        GroupOutputIterator _valid, GroupOutputIterator _invalid);
    void Filter(GroupInputIterator _first, GroupInputIterator _last,
        size_t _maxAttempts, const Boundary* const _boundary,
        GroupOutputIterator _valid);
 
 
  protected:
 
 
    virtual bool Sampler(Cfg& _cfg, const Boundary* const _boundary,
        std::vector<Cfg>& _valid, std::vector<Cfg>& _invalid);
 
    virtual bool Sampler(Cfg& _cfg, const Boundary* const _robotBoundary,
        const Boundary* const _eeBoundary,
        std::vector<Cfg>& _valid, std::vector<Cfg>& _invalid);
 
    virtual bool Sampler(GroupCfgType& _cfg, const Boundary* const _boundary,
        std::vector<GroupCfgType>& _valid, std::vector<GroupCfgType>& _invalid);
 
    virtual bool Sampler(GroupCfgType& _cfg, const BoundaryMap& _boundaryMap,
        std::vector<GroupCfgType>& _valid, std::vector<GroupCfgType>& _invalid);
 
 
    friend class MixSampler;
 
};
 
#endif