ControlSampler.h
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
Definition: ControlSampler.h:70
Definition of a compound control sampler. This is useful to construct samplers for compound controls...
Definition: ControlSampler.h:129
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...
Definition: ControlSampler.cpp:60
A boost shared pointer wrapper for ompl::control::ControlSampler.
const ControlSpace * space_
The control space this sampler operates on.
Definition: ControlSampler.h:122
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:54
virtual ~CompoundControlSampler()
Destructor. This frees the added samplers as well.
Definition: ControlSampler.h:139
std::vector< ControlSamplerPtr > samplers_
The instances of samplers used for compound sampler.
Definition: ControlSampler.h:157
virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
Sample a number of steps to execute a control for.
Definition: ControlSampler.cpp:55
virtual void sample(Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition: ControlSampler.cpp:66
A control space representing the space of applicable controls.
Definition: ControlSpace.h:66
virtual void sampleNext(Control *control, const Control *previous)
Sample a control, given the previously applied control. The default implementation calls the first de...
Definition: ControlSampler.cpp:80
virtual void sampleNext(Control *control, const Control *previous)
Sample a control, given the previously applied control. The default implementation calls the first de...
Definition: ControlSampler.cpp:45
ControlSampler(const ControlSpace *space)
Constructor takes the state space to construct samples for as argument.
Definition: ControlSampler.h:75
boost::function< ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator
Definition of a function that can allocate a control sampler.
Definition: ControlSampler.h:167