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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 "ompl/control/SpaceInformation.h"
43#include <cmath>
44
45namespace ompl
46{
47 namespace control
48 {
52 class SteeredControlSampler : public DirectedControlSampler
53 {
54 public:
56 SteeredControlSampler(const SpaceInformation *si) : DirectedControlSampler(si)
57 {
58 }
59
60 ~SteeredControlSampler() override = default;
61
62 unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override
63 {
64 double duration;
65 if (!si_->getStatePropagator()->steer(source, dest, control, duration))
66 return 0;
67 unsigned int steps = std::floor(duration / si_->getPropagationStepSize() + 0.5);
68 return si_->propagateWhileValid(source, control, steps, dest);
69 }
70
71 unsigned int sampleTo(Control *control, const Control * /*previous*/, const base::State *source,
72 base::State *dest) override
73 {
74 return sampleTo(control, source, dest);
75 }
76 };
77 }
78}
79
80#endif
Definition of an abstract state.
Definition State.h:50
Definition of an abstract control.
Definition Control.h:48
const SpaceInformation * si_
The space information this sampler operates on.
Space information containing necessary information for planning with controls. setup() needs to be ca...
Abstract definition of a steered control sampler. It uses the steering function in a state propagator...
unsigned int sampleTo(Control *control, const Control *, const base::State *source, base::State *dest) override
Sample a control given that it will be applied to state state and the intention is to reach state des...
unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override
Sample a control given that it will be applied to state state and the intention is to reach state tar...
SteeredControlSampler(const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
Main namespace. Contains everything in this library.