37 #ifndef OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
40 #include "ompl/base/State.h"
41 #include "ompl/control/Control.h"
42 #include "ompl/util/ClassForward.h"
43 #include <boost/function.hpp>
44 #include <boost/noncopyable.hpp>
52 OMPL_CLASS_FORWARD(SpaceInformation);
53 OMPL_CLASS_FORWARD(DirectedControlSampler);
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 tar...
boost::function< DirectedControlSamplerPtr(const SpaceInformation *)> DirectedControlSamplerAllocator
Definition of a function that can allocate a directed control sampler.
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition of an abstract state.
DirectedControlSampler(const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.
const SpaceInformation * si_
The space information this sampler operates on.