Public Member Functions | Protected Attributes | List of all members
KoulesControlSampler Class Reference
Inheritance diagram for KoulesControlSampler:
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Public Member Functions

 KoulesControlSampler (const ompl::control::ControlSpace *space)
 
virtual void sample (ompl::control::Control *control)
 Sample a control. All other control sampling functions default to this one, unless a user-specified implementation is given.
 
virtual void sample (ompl::control::Control *control, const ompl::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 (ompl::control::Control *control, const ompl::control::Control *, const ompl::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 void steer (ompl::control::Control *control, const ompl::base::State *state, double x, double y)
 
- Public Member Functions inherited from ompl::control::ControlSampler
 ControlSampler (const ControlSampler &)=delete
 
ControlSampler & operator= (const ControlSampler &)=delete
 
 ControlSampler (const ControlSpace *space)
 Constructor takes the state space to construct samples for as argument.
 
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 unsigned int sampleStepCount (unsigned int minSteps, unsigned int maxSteps)
 Sample a number of steps to execute a control for.
 

Protected Attributes

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

Detailed Description

Definition at line 43 of file KoulesControlSpace.h.

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