SimpleDirectedControlSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
39 
40 #include "ompl/control/DirectedControlSampler.h"
41 #include "ompl/control/ControlSampler.h"
42 
43 namespace ompl
44 {
45  namespace control
46  {
60  class SimpleDirectedControlSampler : public DirectedControlSampler
61  {
62  public:
66  SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k = 1);
67 
68  ~SimpleDirectedControlSampler() override;
69 
71  unsigned int getNumControlSamples() const
72  {
73  return numControlSamples_;
74  }
75 
77  void setNumControlSamples(unsigned int numSamples)
78  {
79  numControlSamples_ = numSamples;
80  }
81 
90  unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override;
91 
102  unsigned int sampleTo(Control *control, const Control *previous, const base::State *source,
103  base::State *dest) override;
104 
105  protected:
108  virtual unsigned int getBestControl(Control *control, const base::State *source, base::State *dest,
109  const Control *previous);
110 
113 
115  unsigned int numControlSamples_;
116  };
117  }
118 }
119 
120 #endif
SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k=1)
Constructor takes the state space to construct samples for as argument Optionally,...
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 ta...
unsigned int numControlSamples_
The number of controls to sample 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 des...
unsigned int getNumControlSamples() const
Retrieve the number of controls to generate when finding the best control.
A shared pointer wrapper for ompl::control::ControlSampler.
ControlSamplerPtr cs_
An instance of the control sampler.
Main namespace. Contains everything in this library.