SimpleDirectedControlSampler.cpp
40 ompl::control::SimpleDirectedControlSampler::SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k) :
49 unsigned int ompl::control::SimpleDirectedControlSampler::sampleTo(Control *control, const base::State *source, base::State *dest)
54 unsigned int ompl::control::SimpleDirectedControlSampler::sampleTo(Control *control, const Control *previous, const base::State *source, base::State *dest)
59 unsigned int ompl::control::SimpleDirectedControlSampler::getBestControl (Control *control, const base::State *source, base::State *dest, const Control *previous)
unsigned int getMinControlDuration() const
Get the minimum number of steps a control is propagated for.
Definition: SpaceInformation.h:161
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: SpaceInformation.cpp:147
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...
Definition: SimpleDirectedControlSampler.cpp:49
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...
Definition: SimpleDirectedControlSampler.cpp:59
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.
Definition: SimpleDirectedControlSampler.cpp:40
void copyControl(Control *destination, const Control *source) const
Copy a control to another.
Definition: SpaceInformation.h:106
void copyState(State *destination, const State *source) const
Copy a state to another.
Definition: SpaceInformation.h:244
unsigned int getMaxControlDuration() const
Get the maximum number of steps a control is propagated for.
Definition: SpaceInformation.h:167
ControlSamplerPtr cs_
An instance of the control sampler.
Definition: SimpleDirectedControlSampler.h:112
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition: DirectedControlSampler.h:63
const SpaceInformation * si_
The space information this sampler operates on.
Definition: DirectedControlSampler.h:99
void freeControl(Control *control) const
Free the memory of a control.
Definition: SpaceInformation.h:100
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69
unsigned int numControlSamples_
The number of controls to sample when finding the best control.
Definition: SimpleDirectedControlSampler.h:115
double distance(const State *state1, const State *state2) const
Compute the distance between two states.
Definition: SpaceInformation.h:125