DirectedControlSampler.h

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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
#define OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_

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

namespace ompl
{
    namespace control
    {
        OMPL_CLASS_FORWARD(SpaceInformation);
        OMPL_CLASS_FORWARD(DirectedControlSampler);

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

            DirectedControlSampler(const SpaceInformation *si) : si_(si)
            {
            }

            virtual ~DirectedControlSampler() = default;

            virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) = 0;

            virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source,
                                          base::State *dest) = 0;

        protected:
            const SpaceInformation *si_;
        };

        typedef std::function<DirectedControlSamplerPtr(const SpaceInformation *)> DirectedControlSamplerAllocator;
    }
}

#endif