SteeredControlSampler.h
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34 
35 /* Author: Mark Moll, Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_STEERED_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_STEERED_CONTROL_SAMPLER_
39 
40 #include "ompl/control/DirectedControlSampler.h"
41 #include "ompl/control/StatePropagator.h"
42 #include "ompl/control/SpaceInformation.h"
43 #include <cmath>
44 
45 namespace ompl
46 {
47  namespace control
48  {
53  {
54  public:
57  {
58  }
59 
60  ~SteeredControlSampler() override = default;
61 
62  unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override
63  {
64  double duration;
65  if (!si_->getStatePropagator()->steer(source, dest, control, duration))
66  return 0;
67  unsigned int steps = std::floor(duration / si_->getPropagationStepSize() + 0.5);
68  return si_->propagateWhileValid(source, control, steps, dest);
69  }
70 
71  unsigned int sampleTo(Control *control, const Control *previous, const base::State *source,
72  base::State *dest) override
73  {
74  return sampleTo(control, source, dest);
75  }
76  };
77  }
78 }
79 
80 #endif
double getPropagationStepSize() const
Propagation is performed at integer multiples of a specified step size. This function returns the val...
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 of an abstract control.
Definition: Control.h:47
Abstract definition of a steered control sampler. It uses the steering function in a state propagator...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition of an abstract state.
Definition: State.h:49
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...
SteeredControlSampler(const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.
const SpaceInformation * si_
The space information this sampler operates on.
unsigned int sampleTo(Control *control, const Control *previous, 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...
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.