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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  {
47 
61  {
62  public:
63 
67  SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k = 1);
68 
69  virtual ~SimpleDirectedControlSampler(void);
70 
72  unsigned int getNumControlSamples (void) const
73  {
74  return numControlSamples_;
75  }
76 
78  void setNumControlSamples (unsigned int numSamples)
79  {
80  numControlSamples_ = numSamples;
81  }
82 
91  virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest);
92 
103  virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source, base::State *dest);
104 
105  protected:
106 
109  virtual unsigned int getBestControl (Control *control, const base::State *source, base::State *dest, const Control *previous);
110 
113 
115  unsigned int numControlSamples_;
116 
117  };
118 
119  }
120 }
121 
122 
123 #endif
void setNumControlSamples(unsigned int numSamples)
Set the number of controls to generate when finding the best control.
Definition of an abstract control.
Definition: Control.h:48
A boost shared pointer wrapper for ompl::control::ControlSampler.
virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest)
Sample a control given that it will be applied to state state and the intention is to reach state des...
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...
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.
Implementation of a simple directed control sampler. This is a basic implementation that does not act...
ControlSamplerPtr cs_
An instance of the control sampler.
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition of an abstract state.
Definition: State.h:50
unsigned int getNumControlSamples(void) const
Retrieve the number of controls to generate when finding the best control.
Space information containing necessary information for planning with controls. setup() needs to be ca...
unsigned int numControlSamples_
The number of controls to sample when finding the best control.