StateSamplerArray.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_STATE_SAMPLER_ARRAY_
#define OMPL_BASE_STATE_SAMPLER_ARRAY_
 
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/StateSampler.h"
#include "ompl/base/ValidStateSampler.h"
#include <vector>
 
namespace ompl
{
    namespace base
    {
        template <typename T>
        struct SamplerSelector
        {
        };
 
        template <>
        struct SamplerSelector<StateSampler>
        {
            using Sampler = StateSampler;
            using SamplerPtr = StateSamplerPtr;
 
            SamplerPtr allocStateSampler(const SpaceInformation *si)
            {
                return si->allocStateSampler();
            }
        };
 
        template <>
        struct SamplerSelector<ValidStateSampler>
        {
            using Sampler = ValidStateSampler;
            using SamplerPtr = ValidStateSamplerPtr;
 
            SamplerPtr allocStateSampler(const SpaceInformation *si)
            {
                return si->allocValidStateSampler();
            }
        };
        template <typename T>
        class StateSamplerArray
        {
        public:
            using SamplerPtr = typename SamplerSelector<T>::SamplerPtr;
 
            using Sampler = typename SamplerSelector<T>::Sampler;
 
            StateSamplerArray(const SpaceInformationPtr &si) : si_(si.get())
            {
            }
 
            StateSamplerArray(const SpaceInformation *si) : si_(si)
            {
            }
 
            ~StateSamplerArray() = default;
 
            Sampler *operator[](std::size_t index) const
            {
                return samplers_[index].get();
            }
 
            void resize(std::size_t count)
            {
                if (samplers_.size() > count)
                    samplers_.resize(count);
                else if (samplers_.size() < count)
                {
                    samplers_.resize(count);
                    for (auto &sampler : samplers_)
                        sampler = ss_.allocStateSampler(si_);
                }
            }
 
            std::size_t size() const
            {
                return samplers_.size();
            }
 
            void clear()
            {
                resize(0);
            }
 
        private:
            const SpaceInformation *si_;
            SamplerSelector<T> ss_;
            std::vector<SamplerPtr> samplers_;
        };
    }
}
 
#endif