DirectedControlSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/control/Control.h"
42 #include "ompl/util/ClassForward.h"
43 #include <functional>
44 
45 namespace ompl
46 {
47  namespace control
48  {
50  OMPL_CLASS_FORWARD(SpaceInformation);
51  OMPL_CLASS_FORWARD(DirectedControlSampler);
53 
63  {
64  public:
65  // non-copyable
67  DirectedControlSampler &operator=(const DirectedControlSampler &) = delete;
68 
71  {
72  }
73 
74  virtual ~DirectedControlSampler() = default;
75 
83  virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) = 0;
84 
94  virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source,
95  base::State *dest) = 0;
96 
97  protected:
100  };
101 
103  typedef std::function<DirectedControlSamplerPtr(const SpaceInformation *)> DirectedControlSamplerAllocator;
104  }
105 }
106 
107 #endif
Definition of an abstract control.
Definition: Control.h:47
virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest)=0
Sample a control given that it will be applied to state state and the intention is to reach state tar...
std::function< DirectedControlSamplerPtr(const SpaceInformation *)> DirectedControlSamplerAllocator
Definition of a function that can allocate a directed control sampler.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition of an abstract state.
Definition: State.h:49
DirectedControlSampler(const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.
const SpaceInformation * si_
The space information this sampler operates on.
Space information containing necessary information for planning with controls. setup() needs to be ca...