ompl::control::DirectedControlSampler Class Referenceabstract

Abstract definition of a directed control sampler. Motion planners that need to sample controls that take the system to a desired direction will call functions from this class. Planners should call the versions of sampleTo() with most arguments, whenever this information is available. If no direction information is available, the use of a ControlSampler is perhaps more appropriate. More...

#include <ompl/control/DirectedControlSampler.h>

Inheritance diagram for ompl::control::DirectedControlSampler:

## Public Member Functions

DirectedControlSampler (const DirectedControlSampler &)=delete

DirectedControlSampleroperator= (const DirectedControlSampler &)=delete

DirectedControlSampler (const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.

virtual unsigned int sampleTo (Control *control, const base::State *source, base::State *dest)=0
Sample a control given that it will be applied to state state and the intention is to reach state target. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity.

virtual unsigned int sampleTo (Control *control, const Control *previous, const base::State *source, base::State *dest)=0
Sample a control given that it will be applied to state state and the intention is to reach state dest. Also take into account the fact that the previously applied control is previous. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity.

## Protected Attributes

const SpaceInformationsi_
The space information this sampler operates on.

## Detailed Description

Abstract definition of a directed control sampler. Motion planners that need to sample controls that take the system to a desired direction will call functions from this class. Planners should call the versions of sampleTo() with most arguments, whenever this information is available. If no direction information is available, the use of a ControlSampler is perhaps more appropriate.

Definition at line 62 of file DirectedControlSampler.h.

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