Parasol Planning Library (PPL)
UniformRandomSampler.h
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1 #ifndef PMPL_UNIFORM_RANDOM_SAMPLER_H_
2 #define PMPL_UNIFORM_RANDOM_SAMPLER_H_
3 
4 #include "SamplerMethod.h"
5 
6 
14 class UniformRandomSampler : virtual public SamplerMethod {
15 
16  public:
17 
20 
22 
26 
27  using typename SamplerMethod::BoundaryMap;
28 
32 
34 
36 
37  virtual ~UniformRandomSampler() = default;
38 
42 
43  virtual void Print(std::ostream& _os) const override;
44 
46 
47  protected:
48 
51 
52  virtual bool Sampler(Cfg& _cfg, const Boundary* const _boundary,
53  std::vector<Cfg>& _valid, std::vector<Cfg>& _invalid)
54  override;
55 
56  virtual bool Sampler(GroupCfgType& _cfg, const Boundary* const _boundary,
57  std::vector<GroupCfgType>& _valid, std::vector<GroupCfgType>& _invalid)
58  override;
59 
60  virtual bool Sampler(GroupCfgType& _cfg, const BoundaryMap& _boundaryMap,
61  std::vector<GroupCfgType>& _valid, std::vector<GroupCfgType>& _invalid)
62  override;
63 
65 
66  private:
67 
70 
71  std::string m_vcLabel;
72 
74 };
75 
76 #endif
Definition: Boundary.h:30
Definition: Cfg.h:38
Definition: GroupCfg.h:39
Definition: SamplerMethod.h:70
std::map< Robot *, const Boundary * > BoundaryMap
A map from robots to sampling boundaries.
Definition: SamplerMethod.h:90
Definition: UniformRandomSampler.h:14
virtual bool Sampler(Cfg &_cfg, const Boundary *const _boundary, std::vector< Cfg > &_valid, std::vector< Cfg > &_invalid) override
Definition: UniformRandomSampler.cpp:33
virtual ~UniformRandomSampler()=default
virtual void Print(std::ostream &_os) const override
Definition: UniformRandomSampler.cpp:23
UniformRandomSampler()
Definition: UniformRandomSampler.cpp:8
MPBaseObject::GroupCfgType GroupCfgType
Definition: UniformRandomSampler.h:21
Definition: XMLNode.h:27