00001 00009 #ifndef _SMP_SAMPLER_TRAJECTORY_BIAS_H_ 00010 #define _SMP_SAMPLER_TRAJECTORY_BIAS_H_ 00011 00012 #include <smp/components/samplers/base.h> 00013 #include <smp/common/region.h> 00014 #include <smp/planner_utils/trajectory.h> 00015 00016 00017 namespace smp { 00018 00020 00028 template < class typeparams, int NUM_DIMENSIONS > 00029 class sampler_trajectory_bias : public sampler_base< typeparams > { 00030 00031 typedef typename typeparams::state state_t; 00032 typedef typename typeparams::input input_t; 00033 typedef typename typeparams::vertex_data vertex_data_t; 00034 typedef typename typeparams::edge_data edge_data_t; 00035 00036 typedef vertex<typeparams> vertex_t; 00037 typedef edge<typeparams> edge_t; 00038 00039 typedef trajectory<typeparams> trajectory_t; 00040 00041 typedef region<NUM_DIMENSIONS> region_t; 00042 00043 typedef int (*trajectory_update_func_t)(trajectory_t *); 00044 00045 00046 double bias_probability; 00047 00048 double dispersion; 00049 00050 region_t support; 00051 00052 trajectory_t sample_trajectory; 00053 double length_sample_trajectory; 00054 00055 public: 00056 sampler_trajectory_bias (); 00057 ~sampler_trajectory_bias (); 00058 00059 00060 int sm_update_insert_vertex (vertex_t *vertex_in); 00061 00062 00063 int sm_update_insert_edge (edge_t *edge_in); 00064 00065 00066 int sm_update_delete_vertex (vertex_t *vertex_in); 00067 00068 00069 int sm_update_delete_edge (edge_t *edge_in); 00070 00071 00072 int sample (state_t **state_sample_out); 00073 00074 00091 int set_support (const region_t support_in); 00092 00103 int update_trajectory (trajectory_t *trajectory_in); 00104 00105 00116 int set_sample_dispersion (double dispersion_in); 00117 00118 00132 int set_bias_probability (double bias_probability_in); 00133 00134 }; 00135 00136 00137 } 00138 00139 #endif
