StateSamplerArray.h
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35/* Author: Ioan Sucan */
36
37#ifndef OMPL_BASE_STATE_SAMPLER_ARRAY_
38#define OMPL_BASE_STATE_SAMPLER_ARRAY_
39
40#include "ompl/base/SpaceInformation.h"
41#include "ompl/base/StateSampler.h"
42#include "ompl/base/ValidStateSampler.h"
43#include <vector>
44
45namespace ompl
46{
47 namespace base
48 {
53 template <typename T>
55 {
56 };
57
59 template <>
61 {
62 using Sampler = StateSampler;
63 using SamplerPtr = StateSamplerPtr;
64
65 SamplerPtr allocStateSampler(const SpaceInformation *si)
66 {
67 return si->allocStateSampler();
68 }
69 };
70
71 template <>
72 struct SamplerSelector<ValidStateSampler>
73 {
74 using Sampler = ValidStateSampler;
75 using SamplerPtr = ValidStateSamplerPtr;
76
77 SamplerPtr allocStateSampler(const SpaceInformation *si)
78 {
79 return si->allocValidStateSampler();
80 }
81 };
86 template <typename T>
88 {
89 public:
92
95
97 StateSamplerArray(const SpaceInformationPtr &si) : si_(si.get())
98 {
99 }
100
103 {
104 }
105
106 ~StateSamplerArray() = default;
107
110 Sampler *operator[](std::size_t index) const
111 {
112 return samplers_[index].get();
113 }
114
116 void resize(std::size_t count)
117 {
118 if (samplers_.size() > count)
119 samplers_.resize(count);
120 else if (samplers_.size() < count)
121 {
122 samplers_.resize(count);
123 for (auto &sampler : samplers_)
124 sampler = ss_.allocStateSampler(si_);
125 }
126 }
127
129 std::size_t size() const
130 {
131 return samplers_.size();
132 }
133
135 void clear()
136 {
137 resize(0);
138 }
139
140 private:
141 const SpaceInformation *si_;
143 std::vector<SamplerPtr> samplers_;
144 };
145 }
146}
147
148#endif
A shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
Class to ease the creation of a set of samplers. This is especially useful for multi-threaded planner...
Sampler * operator[](std::size_t index) const
Access operator for a specific sampler. For performance reasons, the bounds are not checked.
StateSamplerArray(const SpaceInformation *si)
Constructor.
StateSamplerArray(const SpaceInformationPtr &si)
Constructor.
typename SamplerSelector< T >::SamplerPtr SamplerPtr
Pointer to the type of sampler allocated.
void clear()
Clear all allocated samplers.
std::size_t size() const
Get the count of samplers currently available.
typename SamplerSelector< T >::Sampler Sampler
The type of sampler allocated.
void resize(std::size_t count)
Create or release some state samplers.
A shared pointer wrapper for ompl::base::StateSampler.
Abstract definition of a state space sampler.
Definition: StateSampler.h:65
A shared pointer wrapper for ompl::base::ValidStateSampler.
Main namespace. Contains everything in this library.
Depending on the type of state sampler, we have different allocation routines.