45 namespace ompl
60 ~SteeredControlSampler() override = default;
72 base::State *dest) override
74 return sampleTo(control, source, dest);
Abstract definition of a steered control sampler. It uses the steering function in a state propagator...
const StatePropagatorPtr & getStatePropagator() const
Get the instance of StatePropagator that performs state propagation.
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...
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...
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
SteeredControlSampler(const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.
Space information containing necessary information for planning with controls. setup() needs to be ca...
double getPropagationStepSize() const
Propagation is performed at integer multiples of a specified step size. This function returns the val...
const SpaceInformation * si_
The space information this sampler operates on.
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,...