SimpleDirectedControlSampler.h

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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
#define OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_

#include "ompl/control/DirectedControlSampler.h"
#include "ompl/control/ControlSampler.h"

namespace ompl
{
    namespace control
    {
        class SimpleDirectedControlSampler : public DirectedControlSampler
        {
        public:
            SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k = 1);

            ~SimpleDirectedControlSampler() override;

            unsigned int getNumControlSamples() const
            {
                return numControlSamples_;
            }

            void setNumControlSamples(unsigned int numSamples)
            {
                numControlSamples_ = numSamples;
            }

            unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override;

            unsigned int sampleTo(Control *control, const Control *previous, const base::State *source,
                                  base::State *dest) override;

        protected:
            virtual unsigned int getBestControl(Control *control, const base::State *source, base::State *dest,
                                                const Control *previous);

            ControlSamplerPtr cs_;

            unsigned int numControlSamples_;
        };
    }
}

#endif