| Directory: | ./ |
|---|---|
| File: | include/hpp/core/configuration-shooter/uniform-tpl.hh |
| Date: | 2024-08-10 11:29:48 |
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| Lines: | 11 | 11 | 100.0% |
| Branches: | 2 | 6 | 33.3% |
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| 1 | // Copyright (c) 2023 Eureka Robotics | ||
| 2 | // Authors: Joseph Mirabel | ||
| 3 | |||
| 4 | #ifndef HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HH | ||
| 5 | #define HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HH | ||
| 6 | |||
| 7 | #include <hpp/core/configuration-shooter.hh> | ||
| 8 | #include <hpp/pinocchio/device.hh> | ||
| 9 | #include <random> | ||
| 10 | |||
| 11 | namespace hpp { | ||
| 12 | namespace core { | ||
| 13 | namespace configurationShooter { | ||
| 14 | |||
| 15 | /// \addtogroup configuration_sampling | ||
| 16 | /// \{ | ||
| 17 | |||
| 18 | /// Uniformly sample with bounds of degrees of freedom using a custom generator. | ||
| 19 | template <class generator_t> | ||
| 20 | class HPP_CORE_DLLAPI UniformTpl : public ConfigurationShooter { | ||
| 21 | public: | ||
| 22 | typedef shared_ptr<UniformTpl<generator_t>> Ptr_t; | ||
| 23 | typedef weak_ptr<UniformTpl<generator_t>> WkPtr_t; | ||
| 24 | |||
| 25 | 1 | static Ptr_t create(const DevicePtr_t& robot) { | |
| 26 |
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1 | UniformTpl* ptr = new UniformTpl(robot); |
| 27 | 1 | Ptr_t shPtr(ptr); | |
| 28 |
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1 | ptr->init(shPtr); |
| 29 | 1 | return shPtr; | |
| 30 | } | ||
| 31 | |||
| 32 | /// Set the generator seed. | ||
| 33 | 2 | void seed(typename generator_t::result_type seed) { generator_.seed(seed); } | |
| 34 | |||
| 35 | protected: | ||
| 36 | /// Uniformly sample configuration space | ||
| 37 | /// | ||
| 38 | /// Note that translation joints have to be bounded. | ||
| 39 |
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1 | UniformTpl(const DevicePtr_t& robot) : robot_(robot) {} |
| 40 | 1 | void init(const Ptr_t& self) { | |
| 41 | 1 | ConfigurationShooter::init(self); | |
| 42 | 1 | weak_ = self; | |
| 43 | 1 | } | |
| 44 | |||
| 45 | virtual void impl_shoot(Configuration_t& q) const; | ||
| 46 | |||
| 47 | private: | ||
| 48 | DevicePtr_t robot_; | ||
| 49 | WkPtr_t weak_; | ||
| 50 | |||
| 51 | // The generator must be mutable because impl_shoot is const and | ||
| 52 | // generator_t::operator() is not. | ||
| 53 | mutable generator_t generator_; | ||
| 54 | }; // class UniformTpl | ||
| 55 | /// \} | ||
| 56 | |||
| 57 | typedef UniformTpl<std::default_random_engine> UniformSeedable; | ||
| 58 | |||
| 59 | } // namespace configurationShooter | ||
| 60 | } // namespace core | ||
| 61 | } // namespace hpp | ||
| 62 | |||
| 63 | #endif // HPP_CORE_CONFIGURATION_SHOOTER_UNIFORM_TPL_HH | ||
| 64 |