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ControlSampler.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
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 }
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