Implementation of a simple directed control sampler. This is a basic implementation that does not actually take direction into account and builds upon ControlSampler. Instead, a set of k random controls are sampled, and the control that gets the system closest to the target state is returned. More...

#include <ompl/control/SimpleDirectedControlSampler.h>

Inheritance diagram for ompl::control::SimpleDirectedControlSampler:

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Public Member Functions
	SimpleDirectedControlSampler (const SpaceInformation *si, unsigned int k=1)
	Constructor takes the state space to construct samples for as argument Optionally, a k value can be given to indicate the number of controls to try when directing a system toward a specific state. Default value is 1.

unsigned int	getNumControlSamples () const
	Retrieve the number of controls to generate when finding the best control.

void	setNumControlSamples (unsigned int numSamples)
	Set the number of controls to generate when finding the best control.

unsigned int	sampleTo (Control control, const base::State source, base::State *dest) override
	Sample a control given that it will be applied to state state and the intention is to reach state dest. 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.

unsigned int	sampleTo (Control control, const Control previous, const base::State source, base::State dest) override
	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.

Public Member Functions inherited from ompl::control::DirectedControlSampler
	DirectedControlSampler (const DirectedControlSampler &)=delete

DirectedControlSampler &	operator= (const DirectedControlSampler &)=delete

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

Protected Member Functions
virtual unsigned int	getBestControl (Control control, const base::State source, base::State dest, const Control previous)
	Samples numControlSamples_ controls, and returns the control that brings the system the closest to target.

Protected Attributes
ControlSamplerPtr	cs_
	An instance of the control sampler.

unsigned int	numControlSamples_
	The number of controls to sample when finding the best control.

Protected Attributes inherited from ompl::control::DirectedControlSampler
const SpaceInformation *	si_
	The space information this sampler operates on.

Detailed Description

Implementation of a simple directed control sampler. This is a basic implementation that does not actually take direction into account and builds upon ControlSampler. Instead, a set of k random controls are sampled, and the control that gets the system closest to the target state is returned.

External documentation: K-control sampling is first believed to be proposed in:

S.M. LaValle and J.J. Kuffner, Randomized kinodynamic planning, Intl. J. of Robotics Research, vol. 20, pp. 378–400, May 2001. DOI: 10.1177/02783640122067453
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Definition at line 124 of file SimpleDirectedControlSampler.h.

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

ompl/control/SimpleDirectedControlSampler.h
ompl/control/src/SimpleDirectedControlSampler.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description