44 unsigned int KoulesDirectedControlSampler::sampleTo(oc::Control *control, const ob::State *source, ob::State *dest)
46 const double* dstPos = dest->as<KoulesStateSpace::StateType>()->values;
This namespace contains sampling based planning routines shared by both planning under geometric cons...
void freeState(State *state) const
Free the memory of a state.
unsigned int getMinControlDuration() const
Get the minimum number of steps a control is propagated for.
void copyState(State *destination, const State *source) const
Copy a state to another.
const T * as() const
Cast this instance to a desired type.
virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::base::State *source, ompl::base::State *dest)
Sample a control given that it will be applied to state state and the intention is to reach state tar...
unsigned int getMaxControlDuration() const
Get the maximum number of steps a control is propagated for.
State * allocState() const
Allocate memory for a state.
virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
Sample a number of steps to execute a control for.
This namespace contains sampling based planning routines used by planning under differential constrai...
double getPropagationStepSize() const
Propagation is performed at integer multiples of a specified step size. This function returns the val...
const SpaceInformation * si_
The space information this sampler operates on.