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DirectedControlSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
39 
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>
45 
46 namespace ompl
47 {
48  namespace control
49  {
50 
52  OMPL_CLASS_FORWARD(SpaceInformation);
53  OMPL_CLASS_FORWARD(DirectedControlSampler);
55 
63  class DirectedControlSampler : private boost::noncopyable
64  {
65  public:
66 
69  {
70  }
71 
72  virtual ~DirectedControlSampler(void)
73  {
74  }
75 
83  virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) = 0;
84 
94  virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source, base::State *dest) = 0;
95 
96  protected:
97 
100 
101  };
102 
104  typedef boost::function<DirectedControlSamplerPtr(const SpaceInformation*)> DirectedControlSamplerAllocator;
105  }
106 }
107 
108 
109 #endif
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.
Definition: State.h:50
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.
Space information containing necessary information for planning with controls. setup() needs to be ca...