ControlSampler.cpp

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2010, Rice University
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the Rice University nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Ioan Sucan */
 
#include "ompl/control/ControlSampler.h"
#include "ompl/control/ControlSpace.h"
 
void ompl::control::ControlSampler::sample(Control *control, const base::State * /* state */)
{
    sample(control);
}
 
void ompl::control::ControlSampler::sampleNext(Control *control, const Control * /* previous */)
{
    sample(control);
}
 
void ompl::control::ControlSampler::sampleNext(Control *control, const Control * /* previous */,
                                               const base::State * /* state */)
{
    sample(control);
}
 
unsigned int ompl::control::ControlSampler::sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
{
    return rng_.uniformInt(minSteps, maxSteps);
}
 
void ompl::control::CompoundControlSampler::addSampler(const ControlSamplerPtr &sampler)
{
    samplers_.push_back(sampler);
    samplerCount_ = samplers_.size();
}
 
void ompl::control::CompoundControlSampler::sample(Control *control)
{
    Control **comps = static_cast<CompoundControl *>(control)->components;
    for (unsigned int i = 0; i < samplerCount_; ++i)
        samplers_[i]->sample(comps[i]);
}
 
void ompl::control::CompoundControlSampler::sample(Control *control, const base::State *state)
{
    Control **comps = static_cast<CompoundControl *>(control)->components;
    for (unsigned int i = 0; i < samplerCount_; ++i)
        samplers_[i]->sample(comps[i], state);
}
 
void ompl::control::CompoundControlSampler::sampleNext(Control *control, const Control *previous)
{
    Control **comps = static_cast<CompoundControl *>(control)->components;
    const Control *const *prev = static_cast<const CompoundControl *>(previous)->components;
    for (unsigned int i = 0; i < samplerCount_; ++i)
        samplers_[i]->sampleNext(comps[i], prev[i]);
}
 
void ompl::control::CompoundControlSampler::sampleNext(Control *control, const Control *previous,
                                                       const base::State *state)
{
    Control **comps = static_cast<CompoundControl *>(control)->components;
    const Control *const *prev = static_cast<const CompoundControl *>(previous)->components;
    for (unsigned int i = 0; i < samplerCount_; ++i)
        samplers_[i]->sampleNext(comps[i], prev[i], state);
}