SimpleDirectedControlSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
39 
40 #include "ompl/control/DirectedControlSampler.h"
41 #include "ompl/control/ControlSampler.h"
42 
43 namespace ompl
44 {
45  namespace control
46  {
61  {
62  public:
66  SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k = 1);
67 
68  ~SimpleDirectedControlSampler() override;
69 
71  unsigned int getNumControlSamples() const
72  {
73  return numControlSamples_;
74  }
75 
77  void setNumControlSamples(unsigned int numSamples)
78  {
79  numControlSamples_ = numSamples;
80  }
81 
90  unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override;
91 
102  unsigned int sampleTo(Control *control, const Control *previous, const base::State *source,
103  base::State *dest) override;
104 
105  protected:
108  virtual unsigned int getBestControl(Control *control, const base::State *source, base::State *dest,
109  const Control *previous);
110 
113 
115  unsigned int numControlSamples_;
116  };
117  }
118 }
119 
120 #endif
void setNumControlSamples(unsigned int numSamples)
Set the number of controls to generate when finding the best control.
Definition of an abstract control.
Definition: Control.h:47
A shared pointer wrapper for ompl::control::ControlSampler.
virtual unsigned int getBestControl(Control *control, const base::State *source, base::State *dest, const Control *previous)
Samples numControlSamples_ controls, and returns the control that brings the system the closest to ta...
unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override
Sample a control given that it will be applied to state state and the intention is to reach state des...
unsigned int getNumControlSamples() const
Retrieve the number of controls to generate when finding the best control.
SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k=1)
Constructor takes the state space to construct samples for as argument Optionally, a k value can be given to indicate the number of controls to try when directing a system toward a specific state. Default value is 1.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Implementation of a simple directed control sampler. This is a basic implementation that does not act...
ControlSamplerPtr cs_
An instance of the control sampler.
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition of an abstract state.
Definition: State.h:49
Space information containing necessary information for planning with controls. setup() needs to be ca...
unsigned int numControlSamples_
The number of controls to sample when finding the best control.