SteeredControlSampler.h
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34 
35 /* Author: Mark Moll, Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_STEERED_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_STEERED_CONTROL_SAMPLER_
39 
40 #include "ompl/control/DirectedControlSampler.h"
41 #include "ompl/control/StatePropagator.h"
42 #include <cmath>
43 
44 namespace ompl
45 {
46  namespace control
47  {
48 
49 
54  {
55  public:
56 
59  {
60  }
61 
62  virtual ~SteeredControlSampler()
63  {
64  }
65 
66  virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest)
67  {
68  double duration;
69  if (!si_->getStatePropagator()->steer(source, dest, control, duration)) return 0;
70  unsigned int steps = std::floor(duration / si_->getMinControlDuration() + 0.5);
71  return si_->propagateWhileValid(source, control, steps, dest);
72  }
73 
74  virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source, base::State *dest)
75  {
76  return sampleTo(control, source, dest);
77  }
78  };
79  }
80 }
81 
82 
83 #endif
unsigned int getMinControlDuration() const
Get the minimum number of steps a control is propagated for.
unsigned int propagateWhileValid(const base::State *state, const Control *control, int steps, base::State *result) const
Propagate the model of the system forward, starting at a given state, with a given control...
Definition of an abstract control.
Definition: Control.h:48
Abstract definition of a steered control sampler. It uses the steering function in a state propagator...
Main namespace. Contains everything in this library.
Definition: Cost.h:42
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition of an abstract state.
Definition: State.h:50
virtual unsigned int sampleTo(Control *control, const Control *previous, 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...
SteeredControlSampler(const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.
const SpaceInformation * si_
The space information this sampler operates on.
const StatePropagatorPtr & getStatePropagator() const
Get the instance of StatePropagator that performs state propagation.
Space information containing necessary information for planning with controls. setup() needs to be ca...
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 tar...