KoulesDirectedControlSampler.h
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34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #ifndef DEMOS_KOULES_DIRECTEDCONTROLSAMPLER_
38 #define DEMOS_KOULES_DIRECTEDCONTROLSAMPLER_
39 
40 #include "KoulesControlSpace.h"
41 #include <ompl/control/SpaceInformation.h>
42 #include <ompl/base/Goal.h>
43 
44 // Directed control sampler
46 {
47 public:
48  // The KoulesDirectedControlSampler attempts to steer the system towards
49  // a desired state. It takes as additional arguments a goal pointer and a
50  // a flag called propagateMax. The goal pointer is needed to stop the
51  // motion when the goal is reached before the desired state. The
52  // propagateMax flag indicates that the motion is always extended
53  // upto the maximum control duration (rather than a randomly sampled limit
54  // between the min and max control duration)
56  const ompl::base::GoalPtr &goal, bool propagateMax)
57  : DirectedControlSampler(si), cs_(si->getControlSpace().get()),
58  goal_(goal), statePropagator_(si->getStatePropagator()),
59  propagateMax_(propagateMax)
60  {
61  }
62  // This sampleTo implementation contains a modified version of the method
63  // ompl::control::SpaceInformation::propagateWhileValid, with the key difference
64  // that sampleTo also terminates when the goal is reached.
65  virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::base::State *source, ompl::base::State *dest);
66 
67  virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::control::Control * /* previous */,
68  const ompl::base::State *source, ompl::base::State *dest)
69  {
70  return sampleTo(control, source, dest);
71  }
72 protected:
74  ompl::RNG rng_;
75  const ompl::base::GoalPtr goal_;
76  const ompl::control::StatePropagatorPtr statePropagator_;
77  bool propagateMax_;
78 };
79 
80 #endif
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:89
Definition of an abstract control.
Definition: Control.h:111
Definition of an abstract state.
Definition: State.h:113
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::base::State *source, ompl::base::State *dest)
Sample a control given that it will be applied to state state and the intention is to reach state tar...
Space information containing necessary information for planning with controls. setup() needs to be ca...
A shared pointer wrapper for ompl::base::Goal.