ompl::control::DiscreteControlSampler Class Reference

Control space sampler for discrete controls. More...

#include <ompl/control/spaces/DiscreteControlSpace.h>

Inheritance diagram for ompl::control::DiscreteControlSampler:

Public Member Functions

 DiscreteControlSampler (const ControlSpace *space)
 Constructor.
 
void sample (Control *control) override
 Sample a control. All other control sampling functions default to this one, unless a user-specified implementation is given.
 
- Public Member Functions inherited from ompl::control::ControlSampler
 ControlSampler (const ControlSampler &)=delete
 
ControlSampleroperator= (const ControlSampler &)=delete
 
 ControlSampler (const ControlSpace *space)
 Constructor takes the state space to construct samples for as argument.
 
virtual void sample (Control *control, const base::State *state)
 Sample a control, given it is applied to a specific state (state). The default implementation calls the previous definition of sample(). Providing a different implementation of this function is useful if, for example, the sampling of controls depends on the state of the system. When attempting to sample controls that keep a system stable, for example, knowing the state at which the control is applied is important.
 
virtual void sampleNext (Control *control, const Control *previous)
 Sample a control, given the previously applied control. The default implementation calls the first definition of sample(). For some systems it is possible that large changes in controls are not desirable. For example, switching from maximum acceleration to maximum deceleration is not desirable when driving a car.
 
virtual void sampleNext (Control *control, const Control *previous, const base::State *state)
 Sample a control, given the previously applied control and that it is applied to a specific state. The default implementation calls the first definition of sample(), even if other implementations of the sampleNext() shown above are provided. Often this function needs to be overridden as it is the function planners typically call.
 
virtual unsigned int sampleStepCount (unsigned int minSteps, unsigned int maxSteps)
 Sample a number of steps to execute a control for.
 

Additional Inherited Members

- Protected Attributes inherited from ompl::control::ControlSampler
const ControlSpacespace_
 The control space this sampler operates on.
 
RNG rng_
 Instance of random number generator.
 

Detailed Description

Control space sampler for discrete controls.

Definition at line 47 of file DiscreteControlSpace.h.


The documentation for this class was generated from the following files: