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00037 #include "ompl/control/ControlSampler.h"
00038 #include "ompl/control/ControlManifold.h"
00039
00040 unsigned int ompl::control::ControlSampler::sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
00041 {
00042 return rng_.uniformInt(minSteps, maxSteps);
00043 }
00044
00045 void ompl::control::CompoundControlSampler::addSampler(const ControlSamplerPtr &sampler)
00046 {
00047 samplers_.push_back(sampler);
00048 samplerCount_ = samplers_.size();
00049 }
00050
00051 void ompl::control::CompoundControlSampler::sample(Control *control)
00052 {
00053 Control **comps = static_cast<CompoundControl*>(control)->components;
00054 for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00055 samplers_[i]->sample(comps[i]);
00056 }
00057
00058 void ompl::control::CompoundControlSampler::sample(Control *control, const base::State *state)
00059 {
00060 Control **comps = static_cast<CompoundControl*>(control)->components;
00061 for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00062 samplers_[i]->sample(comps[i], state);
00063 }
00064
00065 void ompl::control::CompoundControlSampler::sampleNext(Control *control, const Control *previous)
00066 {
00067 Control **comps = static_cast<CompoundControl*>(control)->components;
00068 const Control * const *prev = static_cast<const CompoundControl*>(previous)->components;
00069 for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00070 samplers_[i]->sampleNext(comps[i], prev[i]);
00071 }
00072
00073 void ompl::control::CompoundControlSampler::sampleNext(Control *control, const Control *previous, const base::State *state)
00074 {
00075 Control **comps = static_cast<CompoundControl*>(control)->components;
00076 const Control * const *prev = static_cast<const CompoundControl*>(previous)->components;
00077 for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00078 samplers_[i]->sampleNext(comps[i], prev[i], state);
00079 }