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ompl::control::CompoundControlSampler Class Reference

Definition of a compound control sampler. This is useful to construct samplers for compound controls. More...

#include <ControlSampler.h>

Inheritance diagram for ompl::control::CompoundControlSampler:

List of all members.

Public Member Functions

 CompoundControlSampler (const ControlManifold *manifold)
 Constructor.
virtual ~CompoundControlSampler (void)
 Destructor. This frees the added samplers as well.
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 compound control.
virtual void sample (Control *control)
 Sample a control. All other control sampling functions default to this one, unless a user-specified implementation is given.
virtual void sample (Control *control, const base::State *state)
 Sample a control, given it is applied to a specific state. The default implementation calls the previous definition of sample(). Providing a different implementation of this function is useful if, for example, the sampling of controls depends on the state of the system. When attempting to sample controls that keep a system stable, for example, knowing the state at which the control is applied is important.
virtual void sampleNext (Control *control, const Control *previous)
 Sample a control, given the previously applied control. The default implementation calls the first definition of sample(). For some systems it is possible that large changes in controls are not desirable. For example, switching from maximum acceleration to maximum deceleration is not desirable when driving a car.
virtual void sampleNext (Control *control, const Control *previous, const base::State *state)
 Sample a control, given the previously applied control and that it is applied to a specific state. The default implementation calls the first definition of sample(). This is the function planners typically call. If implementations that require information about the state or about the previous control are provided, this function should be reimplemented as well, to call those functions. Providing an implementation that takes into account both the previous control and the state is also possible.

Protected Attributes

std::vector< ControlSamplerPtrsamplers_
 The instances of samplers used for compound sampler.

Detailed Description

Definition of a compound control sampler. This is useful to construct samplers for compound controls.

Definition at line 137 of file ControlSampler.h.


The documentation for this class was generated from the following files: