ControlSampler.h

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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_CONTROL_SAMPLER_
#define OMPL_CONTROL_CONTROL_SAMPLER_

#include "ompl/base/State.h"
#include "ompl/control/Control.h"
#include "ompl/util/RandomNumbers.h"
#include "ompl/util/ClassForward.h"
#include <vector>
#include <functional>

namespace ompl
{
    namespace control
    {
        OMPL_CLASS_FORWARD(ControlSpace);


        OMPL_CLASS_FORWARD(ControlSampler);

        class ControlSampler
        {
        public:
            // non-copyable
            ControlSampler(const ControlSampler &) = delete;
            ControlSampler &operator=(const ControlSampler &) = delete;

            ControlSampler(const ControlSpace *space) : space_(space)
            {
            }

            virtual ~ControlSampler() = default;

            virtual void sample(Control *control) = 0;

            virtual void sample(Control *control, const base::State *state);

            virtual void sampleNext(Control *control, const Control *previous);

            virtual void sampleNext(Control *control, const Control *previous, const base::State *state);

            virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps);

        protected:
            const ControlSpace *space_;

            RNG rng_;
        };

        class CompoundControlSampler : public ControlSampler
        {
        public:
            CompoundControlSampler(const ControlSpace *space) : ControlSampler(space)
            {
            }

            ~CompoundControlSampler() override = default;

            virtual void addSampler(const ControlSamplerPtr &sampler);

            void sample(Control *control) override;
            void sample(Control *control, const base::State *state) override;
            void sampleNext(Control *control, const Control *previous) override;
            void sampleNext(Control *control, const Control *previous, const base::State *state) override;

        protected:
            std::vector<ControlSamplerPtr> samplers_;

        private:
            unsigned int samplerCount_;
        };

        typedef std::function<ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator;
    }
}

#endif