ControlSampler.h
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Definition of a compound control sampler. This is useful to construct samplers for compound controls.
Definition: ControlSampler.h:129
void sampleNext(Control *control, const Control *previous) override
Sample a control, given the previously applied control. The default implementation calls the first de...
Definition: ControlSampler.cpp:81
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...
Definition: ControlSampler.cpp:61
std::vector< ControlSamplerPtr > samplers_
The instances of samplers used for compound sampler.
Definition: ControlSampler.h:151
~CompoundControlSampler() override=default
Destructor. This frees the added samplers as well.
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition: ControlSampler.cpp:67
A shared pointer wrapper for ompl::control::ControlSampler.
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
Definition: ControlSampler.h:69
virtual void sampleNext(Control *control, const Control *previous)
Sample a control, given the previously applied control. The default implementation calls the first de...
Definition: ControlSampler.cpp:45
virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
Sample a number of steps to execute a control for.
Definition: ControlSampler.cpp:56
const ControlSpace * space_
The control space this sampler operates on.
Definition: ControlSampler.h:120
virtual void sample(Control *control)=0
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
ControlSampler(const ControlSpace *space)
Constructor takes the state space to construct samples for as argument.
Definition: ControlSampler.h:76
A control space representing the space of applicable controls.
Definition: ControlSpace.h:64
std::function< ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator
Definition of a function that can allocate a control sampler.
Definition: ControlSampler.h:159