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ControlSampler.h
00001 /*********************************************************************
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_CONTROL_SAMPLER_
00038 #define OMPL_CONTROL_CONTROL_SAMPLER_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/control/Control.h"
00042 #include "ompl/util/RandomNumbers.h"
00043 #include "ompl/util/ClassForward.h"
00044 #include <vector>
00045 #include <boost/function.hpp>
00046 
00047 namespace ompl
00048 {
00049     namespace control
00050     {
00051 
00052         ClassForward(ControlManifold);
00053 
00055         ClassForward(ControlSampler);
00056 
00065         class ControlSampler
00066         {
00067         public:
00068 
00070             ControlSampler(const ControlManifold *manifold) : manifold_(manifold)
00071             {
00072             }
00073 
00074             virtual ~ControlSampler(void)
00075             {
00076             }
00077 
00081             virtual void sample(Control *control) = 0;
00082 
00091             virtual void sample(Control *control, const base::State * /* state */)
00092             {
00093                 sample(control);
00094             }
00095 
00103             virtual void sampleNext(Control *control, const Control * /* previous */)
00104             {
00105                 sample(control);
00106             }
00107 
00119             virtual void sampleNext(Control *control, const Control * /* previous */, const base::State * /* state */)
00120             {
00121                 sample(control);
00122             }
00123 
00125             virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps);
00126 
00127         protected:
00128 
00130             const ControlManifold *manifold_;
00131 
00133             RNG                    rng_;
00134         };
00135 
00137         class CompoundControlSampler : public ControlSampler
00138         {
00139         public:
00140 
00142             CompoundControlSampler(const ControlManifold* manifold) : ControlSampler(manifold)
00143             {
00144             }
00145 
00147             virtual ~CompoundControlSampler(void)
00148             {
00149             }
00150 
00154             virtual void addSampler(const ControlSamplerPtr &sampler);
00155 
00156 
00157             virtual void sample(Control *control);
00158             virtual void sample(Control *control, const base::State *state);
00159             virtual void sampleNext(Control *control, const Control *previous);
00160             virtual void sampleNext(Control *control, const Control *previous, const base::State *state);
00161 
00162         protected:
00163 
00165             std::vector<ControlSamplerPtr> samplers_;
00166 
00167         private:
00168 
00170             unsigned int                   samplerCount_;
00171 
00172         };
00173 
00175         typedef boost::function1<ControlSamplerPtr, const ControlManifold*> ControlSamplerAllocator;
00176     }
00177 }
00178 
00179 
00180 #endif
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