RrtGoalBias.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_PLAN_RRTGOALBIAS_H
#define RL_PLAN_RRTGOALBIAS_H
 
#include <random>
 
#include "Rrt.h"
 
namespace rl
{
    namespace plan
    {
        class RrtGoalBias : public Rrt
        {
        public:
            RrtGoalBias();
            
            virtual ~RrtGoalBias();
            
            virtual ::std::string getName() const;
            
            virtual void seed(const ::std::mt19937::result_type& value);
            
            ::rl::math::Real probability;
            
        protected:
            virtual ::rl::math::Vector choose();
            
            ::std::uniform_real_distribution< ::rl::math::Real>::result_type rand();
            
            ::std::uniform_real_distribution< ::rl::math::Real> randDistribution;
            
            ::std::mt19937 randEngine;
            
        private:
            
        };
    }
}
 
#endif // RL_PLAN_RRTGOALBIAS_H