KoulesControlSpace.h
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34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #ifndef DEMOS_KOULES_CONTROLSPACE_
38 #define DEMOS_KOULES_CONTROLSPACE_
39 
40 #include <ompl/control/spaces/RealVectorControlSpace.h>
41 
42 // Control sampler for KoulesControlSpace
44 {
45 public:
47  {
48  }
49  // Sample random velocity with magnitude between vmin and vmax and
50  // orientation uniformly random over [0, 2*pi].
51  // (This method is not actually ever called.)
52  virtual void sample(ompl::control::Control *control);
53  // sample random velocity with magnitude between vmin and vmax and
54  // direction given by the normalized vector from the current position
55  // in state and a random point in the workspace
56  virtual void sample(ompl::control::Control *control, const ompl::base::State *state);
57  virtual void sampleNext(ompl::control::Control *control, const ompl::control::Control * /* previous */,
58  const ompl::base::State *state)
59  {
60  sample(control, state);
61  }
62  virtual void steer(ompl::control::Control *control, const ompl::base::State *state, double x, double y);
63 
64 protected:
65  ompl::RNG rng_;
66 };
67 
69 {
70 public:
71  KoulesControlSpace(unsigned int numKoules);
72 
74  {
75  return std::make_shared<KoulesControlSampler>(this);
76  }
77 };
78 
79 
80 
81 #endif
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
virtual ompl::control::ControlSamplerPtr allocDefaultControlSampler() const
Allocate the default control sampler.
Definition of an abstract control.
Definition: Control.h:47
A shared pointer wrapper for ompl::control::ControlSampler.
virtual void sampleNext(ompl::control::Control *control, const ompl::control::Control *, const ompl::base::State *state)
Sample a control, given the previously applied control and that it is applied to a specific state...
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
A control space representing Rn.
A control space representing the space of applicable controls.
Definition: ControlSpace.h:63
Definition of an abstract state.
Definition: State.h:49
virtual void sample(ompl::control::Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...