37 #include "ompl/control/ControlSampler.h"
38 #include "ompl/control/ControlSpace.h"
57 return rng_.uniformInt(minSteps, maxSteps);
62 samplers_.push_back(sampler);
63 samplerCount_ = samplers_.size();
69 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
70 samplers_[i]->sample(comps[i]);
76 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
77 samplers_[i]->sample(comps[i], state);
84 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
85 samplers_[i]->sampleNext(comps[i], prev[i]);
92 for (
unsigned int i = 0 ; i < samplerCount_ ; ++i)
93 samplers_[i]->sampleNext(comps[i], prev[i], state);
Definition of an abstract control.
virtual void sample(Control *control)=0
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
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 compoun...
A boost shared pointer wrapper for ompl::control::ControlSampler.
Definition of a compound control.
virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
Sample a number of steps to execute a control for.
virtual void sample(Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition of an abstract state.
virtual void sampleNext(Control *control, const Control *previous)
Sample a control, given the previously applied control. The default implementation calls the first de...
virtual void sampleNext(Control *control, const Control *previous)
Sample a control, given the previously applied control. The default implementation calls the first de...