SteeredControlSampler.h
Abstract definition of a steered control sampler. It uses the steering function in a state propagator...
Definition: SteeredControlSampler.h:53
const StatePropagatorPtr & getStatePropagator() const
Get the instance of StatePropagator that performs state propagation.
Definition: SpaceInformation.h:195
unsigned int sampleTo(Control *control, const 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...
Definition: SteeredControlSampler.h:71
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 tar...
Definition: SteeredControlSampler.h:62
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition: DirectedControlSampler.h:63
SteeredControlSampler(const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.
Definition: SteeredControlSampler.h:56
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:71
double getPropagationStepSize() const
Propagation is performed at integer multiples of a specified step size. This function returns the val...
Definition: SpaceInformation.h:215
const SpaceInformation * si_
The space information this sampler operates on.
Definition: DirectedControlSampler.h:99
unsigned int propagateWhileValid(const base::State *state, const Control *control, int steps, base::State *result) const
Propagate the model of the system forward, starting at a given state, with a given control,...
Definition: SpaceInformation.cpp:168