ControlSampler.h
std::function< ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator
Definition of a function that can allocate a control sampler.
Definition: ControlSampler.h:223
~CompoundControlSampler() override=default
Destructor. This frees the added samplers as well.
virtual void addSampler(const ControlSamplerPtr &sampler)
Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compoun...
Definition: ControlSampler.cpp:61
A control space representing the space of applicable controls.
Definition: ControlSpace.h:127
virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
Sample a number of steps to execute a control for.
Definition: ControlSampler.cpp:56
std::vector< ControlSamplerPtr > samplers_
The instances of samplers used for compound sampler.
Definition: ControlSampler.h:215
void sampleNext(Control *control, const Control *previous) override
Sample a control, given the previously applied control. The default implementation calls the first de...
Definition: ControlSampler.cpp:81
A shared pointer wrapper for ompl::control::ControlSampler.
virtual void sample(Control *control)=0
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
Definition: ControlSampler.h:132
virtual void sampleNext(Control *control, const Control *previous)
Sample a control, given the previously applied control. The default implementation calls the first de...
Definition: ControlSampler.cpp:45
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition: ControlSampler.cpp:67
const ControlSpace * space_
The control space this sampler operates on.
Definition: ControlSampler.h:184