ControlSampler.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/control/ControlSampler.h"
38 #include "ompl/control/ControlSpace.h"
39 
40 void ompl::control::ControlSampler::sample(Control *control, const base::State * /* state */)
41 {
42  sample(control);
43 }
44 
45 void ompl::control::ControlSampler::sampleNext(Control *control, const Control * /* previous */)
46 {
47  sample(control);
48 }
49 
50 void ompl::control::ControlSampler::sampleNext(Control *control, const Control * /* previous */,
51  const base::State * /* state */)
52 {
53  sample(control);
54 }
55 
56 unsigned int ompl::control::ControlSampler::sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
57 {
58  return rng_.uniformInt(minSteps, maxSteps);
59 }
60 
62 {
63  samplers_.push_back(sampler);
64  samplerCount_ = samplers_.size();
65 }
66 
68 {
69  Control **comps = static_cast<CompoundControl *>(control)->components;
70  for (unsigned int i = 0; i < samplerCount_; ++i)
71  samplers_[i]->sample(comps[i]);
72 }
73 
75 {
76  Control **comps = static_cast<CompoundControl *>(control)->components;
77  for (unsigned int i = 0; i < samplerCount_; ++i)
78  samplers_[i]->sample(comps[i], state);
79 }
80 
82 {
83  Control **comps = static_cast<CompoundControl *>(control)->components;
84  const Control *const *prev = static_cast<const CompoundControl *>(previous)->components;
85  for (unsigned int i = 0; i < samplerCount_; ++i)
86  samplers_[i]->sampleNext(comps[i], prev[i]);
87 }
88 
90  const base::State *state)
91 {
92  Control **comps = static_cast<CompoundControl *>(control)->components;
93  const Control *const *prev = static_cast<const CompoundControl *>(previous)->components;
94  for (unsigned int i = 0; i < samplerCount_; ++i)
95  samplers_[i]->sampleNext(comps[i], prev[i], state);
96 }
Definition of an abstract control.
Definition: Control.h:47
virtual void sample(Control *control)=0
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
virtual void addSampler(const ControlSamplerPtr &sampler)
Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compoun...
A shared pointer wrapper for ompl::control::ControlSampler.
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
void sampleNext(Control *control, const Control *previous) override
Sample a control, given the previously applied control. The default implementation calls the first de...
Definition of a compound control.
Definition: Control.h:84
virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
Sample a number of steps to execute a control for.
Definition of an abstract state.
Definition: State.h:49
RNG rng_
Instance of random number generator.
int uniformInt(int lower_bound, int upper_bound)
Generate a random integer within given bounds: [lower_bound, upper_bound].
Definition: RandomNumbers.h:81
virtual void sampleNext(Control *control, const Control *previous)
Sample a control, given the previously applied control. The default implementation calls the first de...