DirectedControlSampler.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
/* Author: Ioan Sucan */
 
#ifndef OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
#define OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
 
#include "ompl/base/State.h"
#include "ompl/control/Control.h"
#include "ompl/util/ClassForward.h"
#include <functional>
 
namespace ompl
{
    namespace control
    {
        OMPL_CLASS_FORWARD(SpaceInformation);
        OMPL_CLASS_FORWARD(DirectedControlSampler);
 
        class DirectedControlSampler
        {
        public:
            // non-copyable
            DirectedControlSampler(const DirectedControlSampler &) = delete;
            DirectedControlSampler &operator=(const DirectedControlSampler &) = delete;
 
            DirectedControlSampler(const SpaceInformation *si) : si_(si)
            {
            }
 
            virtual ~DirectedControlSampler() = default;
 
            virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) = 0;
 
            virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source,
                                          base::State *dest) = 0;
 
        protected:
            const SpaceInformation *si_;
        };
 
        using DirectedControlSamplerAllocator = std::function<DirectedControlSamplerPtr(const SpaceInformation *)>;
    }
}
 
#endif