KoulesDirectedControlSampler.h
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34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #ifndef DEMOS_KOULES_DIRECTEDCONTROLSAMPLER_
38 #define DEMOS_KOULES_DIRECTEDCONTROLSAMPLER_
39 
40 #include "KoulesControlSpace.h"
41 #include <ompl/control/SpaceInformation.h>
42 #include <ompl/base/Goal.h>
43 
44 // Directed control sampler
46 {
47 public:
48  // The KoulesDirectedControlSampler attempts to steer the system towards
49  // a desired state. It takes as additional arguments a goal pointer and a
50  // a flag called propagateMax. The goal pointer is needed to stop the
51  // motion when the goal is reached before the desired state. The
52  // propagateMax flag indicates that the motion is always extended
53  // upto the maximum control duration (rather than a randomly sampled limit
54  // between the min and max control duration)
56  const ompl::base::GoalPtr &goal, bool propagateMax)
57  : DirectedControlSampler(si), cs_(si->getControlSpace().get()),
58  goal_(goal), statePropagator_(si->getStatePropagator()),
59  propagateMax_(propagateMax)
60  {
61  }
62  // This sampleTo implementation contains a modified version of the method
63  // ompl::control::SpaceInformation::propagateWhileValid, with the key difference
64  // that sampleTo also terminates when the goal is reached.
65  virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::base::State *source, ompl::base::State *dest);
66 
67  virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::control::Control * /* previous */,
68  const ompl::base::State *source, ompl::base::State *dest)
69  {
70  return sampleTo(control, source, dest);
71  }
72 protected:
74  ompl::RNG rng_;
75  const ompl::base::GoalPtr goal_;
76  const ompl::control::StatePropagatorPtr statePropagator_;
77  bool propagateMax_;
78 };
79 
80 #endif
Definition of an abstract control.
Definition: Control.h:47
virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::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 des...
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition of an abstract state.
Definition: State.h:49
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...
A shared pointer wrapper for ompl::base::Goal.
const ControlSpacePtr & getControlSpace() const
Get the control space.
Space information containing necessary information for planning with controls. setup() needs to be ca...
const StatePropagatorPtr & getStatePropagator() const
Get the instance of StatePropagator that performs state propagation.