Public Member Functions | Protected Attributes | List of all members
ompl::control::CompoundControlSampler Class Reference

Definition of a compound control sampler. This is useful to construct samplers for compound controls. More...

#include <ompl/control/ControlSampler.h>

Inheritance diagram for ompl::control::CompoundControlSampler:
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Public Member Functions

 CompoundControlSampler (const ControlSpace *space)
 Constructor.
 
 ~CompoundControlSampler () override=default
 Destructor. This frees the added samplers as well.
 
virtual void addSampler (const ControlSamplerPtr &sampler)
 Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compound control.

 
void sample (Control *control) override
 Sample a control. All other control sampling functions default to this one, unless a user-specified implementation is given.
 
void sample (Control *control, const base::State *state) override
 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.
 
void sampleNext (Control *control, const Control *previous) override
 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.
 
void sampleNext (Control *control, const Control *previous, const base::State *state) override
 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.

 
- 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 unsigned int sampleStepCount (unsigned int minSteps, unsigned int maxSteps)
 Sample a number of steps to execute a control for.
 

Protected Attributes

std::vector< ControlSamplerPtr > samplers_
 The instances of samplers used for compound sampler.
 
- 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 of a compound control sampler. This is useful to construct samplers for compound controls.

Definition at line 192 of file ControlSampler.h.

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