ControlSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_CONTROL_SAMPLER_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/control/Control.h"
42 #include "ompl/util/RandomNumbers.h"
43 #include "ompl/util/ClassForward.h"
44 #include <vector>
45 #include <functional>
46 
47 namespace ompl
48 {
49  namespace control
50  {
52  OMPL_CLASS_FORWARD(ControlSpace);
54 
56 
57  OMPL_CLASS_FORWARD(ControlSampler);
59 
69  {
70  public:
71  // non-copyable
72  ControlSampler(const ControlSampler &) = delete;
73  ControlSampler &operator=(const ControlSampler &) = delete;
74 
76  ControlSampler(const ControlSpace *space) : space_(space)
77  {
78  }
79 
80  virtual ~ControlSampler() = default;
81 
85  virtual void sample(Control *control) = 0;
86 
95  virtual void sample(Control *control, const base::State *state);
96 
104  virtual void sampleNext(Control *control, const Control *previous);
105 
113  virtual void sampleNext(Control *control, const Control *previous, const base::State *state);
114 
116  virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps);
117 
118  protected:
121 
124  };
125 
129  {
130  public:
133  {
134  }
135 
137  ~CompoundControlSampler() override = default;
138 
142  virtual void addSampler(const ControlSamplerPtr &sampler);
143 
144  void sample(Control *control) override;
145  void sample(Control *control, const base::State *state) override;
146  void sampleNext(Control *control, const Control *previous) override;
147  void sampleNext(Control *control, const Control *previous, const base::State *state) override;
148 
149  protected:
151  std::vector<ControlSamplerPtr> samplers_;
152 
153  private:
155  unsigned int samplerCount_;
156  };
157 
159  typedef std::function<ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator;
160  }
161 }
162 
163 #endif
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
Definition of a compound control sampler. This is useful to construct samplers for compound controls...
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...
A shared pointer wrapper for ompl::control::ControlSampler.
const ControlSpace * space_
The control space this sampler operates on.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
std::vector< ControlSamplerPtr > samplers_
The instances of samplers used for compound sampler.
virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
Sample a number of steps to execute a control for.
A control space representing the space of applicable controls.
Definition: ControlSpace.h:63
Definition of an abstract state.
Definition: State.h:49
RNG rng_
Instance of random number generator.
virtual void sampleNext(Control *control, const Control *previous)
Sample a control, given the previously applied control. The default implementation calls the first de...
ControlSampler(const ControlSpace *space)
Constructor takes the state space to construct samples for as argument.
std::function< ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator
Definition of a function that can allocate a control sampler.
CompoundControlSampler(const ControlSpace *space)
Constructor.