remove mutable member from GNAT

mamoll · mamoll · commit dad8a4511f67 · 2013-12-20T13:12:13.000-06:00
diff --git a/src/ompl/datastructures/NearestNeighborsGNAT.h b/src/ompl/datastructures/NearestNeighborsGNAT.h
@@ -246,12 +246,12 @@ namespace ompl
 
 #ifdef GNAT_SAMPLER
         /// Sample an element from the GNAT.
-        const _T& sample() const
+        const _T& sample(RNG& rng) const
         {
             if (!size())
                 throw Exception("Cannot sample from an empty tree");
             else
-                return tree_->sample(*this);
+                return tree_->sample(*this, rng);
         }
 #endif
 
@@ -665,20 +665,20 @@ namespace ompl
                 minR = std::max(minR, maxRadius_);
                 return std::pow(minR, gnat.estimatedDimension_) / (double) subtreeSize_;
             }
-            const _T& sample(const GNAT& gnat) const
+            const _T& sample(const GNAT& gnat, RNG& rng) const
             {
                 if (children_.size() != 0)
                 {
-                    if (gnat.rng_.uniform01() < 1./(double) subtreeSize_)
+                    if (rng.uniform01() < 1./(double) subtreeSize_)
                         return pivot_;
                     PDF<const Node*> distribution;
                     for(unsigned int i = 0; i < children_.size(); ++i)
                         distribution.add(children_[i], children_[i]->getSamplingWeight(gnat));
-                    return distribution.sample(gnat.rng_.uniform01())->sample(gnat);
+                    return distribution.sample(rng.uniform01())->sample(gnat, rng);
                 }
                 else
                 {
-                    unsigned int i = gnat.rng_.uniformInt(0, data_.size());
+                    unsigned int i = rng.uniformInt(0, data_.size());
                     return (i==data_.size()) ? pivot_ : data_[i];
                 }
             }
@@ -788,8 +788,6 @@ namespace ompl
 #ifdef GNAT_SAMPLER
         /// \brief Estimated dimension of the local free space.
         double                          estimatedDimension_;
-        /// \brief Random number generator used to sample elements from the GNAT.
-        mutable RNG                     rng_;
 #endif
     };
 
diff --git a/src/ompl/geometric/planners/stride/src/STRIDE.cpp b/src/ompl/geometric/planners/stride/src/STRIDE.cpp
@@ -225,7 +225,7 @@ void ompl::geometric::STRIDE::addMotion(Motion *motion)
 
 ompl::geometric::STRIDE::Motion* ompl::geometric::STRIDE::selectMotion(void)
 {
-    return tree_->sample();
+    return tree_->sample(rng_);
 }
 
 void ompl::geometric::STRIDE::getPlannerData(base::PlannerData &data) const

Original file line number	Diff line number	Diff line change
`@@ -246,12 +246,12 @@ namespace ompl`
`246`	`246`
`247`	`247`	`#ifdef GNAT_SAMPLER`
`248`	`248`	`/// Sample an element from the GNAT.`
`249`		`- const _T& sample() const`
	`249`	`+ const _T& sample(RNG& rng) const`
`250`	`250`	`{`
`251`	`251`	`if (!size())`
`252`	`252`	`throw Exception("Cannot sample from an empty tree");`
`253`	`253`	`else`
`254`		`- return tree_->sample(*this);`
	`254`	`+ return tree_->sample(*this, rng);`
`255`	`255`	`}`
`256`	`256`	`#endif`
`257`	`257`
`@@ -665,20 +665,20 @@ namespace ompl`
`665`	`665`	`minR = std::max(minR, maxRadius_);`
`666`	`666`	`return std::pow(minR, gnat.estimatedDimension_) / (double) subtreeSize_;`
`667`	`667`	`}`
`668`		`- const _T& sample(const GNAT& gnat) const`
	`668`	`+ const _T& sample(const GNAT& gnat, RNG& rng) const`
`669`	`669`	`{`
`670`	`670`	`if (children_.size() != 0)`
`671`	`671`	`{`
`672`		`- if (gnat.rng_.uniform01() < 1./(double) subtreeSize_)`
	`672`	`+ if (rng.uniform01() < 1./(double) subtreeSize_)`
`673`	`673`	`return pivot_;`
`674`	`674`	`PDF<const Node*> distribution;`
`675`	`675`	`for(unsigned int i = 0; i < children_.size(); ++i)`
`676`	`676`	`distribution.add(children_[i], children_[i]->getSamplingWeight(gnat));`
`677`		`- return distribution.sample(gnat.rng_.uniform01())->sample(gnat);`
	`677`	`+ return distribution.sample(rng.uniform01())->sample(gnat, rng);`
`678`	`678`	`}`
`679`	`679`	`else`
`680`	`680`	`{`
`681`		`- unsigned int i = gnat.rng_.uniformInt(0, data_.size());`
	`681`	`+ unsigned int i = rng.uniformInt(0, data_.size());`
`682`	`682`	`return (i==data_.size()) ? pivot_ : data_[i];`
`683`	`683`	`}`
`684`	`684`	`}`
`@@ -788,8 +788,6 @@ namespace ompl`
`788`	`788`	`#ifdef GNAT_SAMPLER`
`789`	`789`	`/// \brief Estimated dimension of the local free space.`
`790`	`790`	`double estimatedDimension_;`
`791`		`- /// \brief Random number generator used to sample elements from the GNAT.`
`792`		`- mutable RNG rng_;`
`793`	`791`	`#endif`
`794`	`792`	`};`
`795`	`793`
Original file line number	Diff line number	Diff line change
`@@ -225,7 +225,7 @@ void ompl::geometric::STRIDE::addMotion(Motion *motion)`
`225`	`225`
`226`	`226`	`ompl::geometric::STRIDE::Motion* ompl::geometric::STRIDE::selectMotion(void)`
`227`	`227`	`{`
`228`		`- return tree_->sample();`
	`228`	`+ return tree_->sample(rng_);`
`229`	`229`	`}`
`230`	`230`
`231`	`231`	`void ompl::geometric::STRIDE::getPlannerData(base::PlannerData &data) const`