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ompl::control::ControlSampler Class Reference

Abstract definition of a control sampler. Motion planners that need to sample controls will call functions from this class. Planners should call the versions of sample() and sampleNext() with most arguments, whenever this information is available. More...

#include <ControlSampler.h>

Inheritance diagram for ompl::control::ControlSampler:

List of all members.

Public Member Functions

 ControlSampler (const ControlManifold *manifold)
 Constructor takes the manifold to construct samples for as argument.
virtual void sample (Control *control)=0
 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 *)
 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 *)
 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 *, const base::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.
virtual unsigned int sampleStepCount (unsigned int minSteps, unsigned int maxSteps)
 Sample a number of steps to execute a control for.

Protected Attributes

const ControlManifoldmanifold_
 The manifold this sampler operates on.
RNG rng_
 Instance of random number generator.

Detailed Description

Abstract definition of a control sampler. Motion planners that need to sample controls will call functions from this class. Planners should call the versions of sample() and sampleNext() with most arguments, whenever this information is available.

Definition at line 65 of file ControlSampler.h.


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