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 
104  }
105 }
106 
107 #endif
Definition of an abstract state.
Definition: State.h:50
Definition of an abstract control.
Definition: Control.h:48
A shared pointer wrapper for ompl::control::DirectedControlSampler.
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
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...
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.
virtual unsigned int sampleTo(Control *control, const Control *previous, 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 des...
Space information containing necessary information for planning with controls. setup() needs to be ca...
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:22