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KoulesDirectedControlSampler Class Reference
Inheritance diagram for KoulesDirectedControlSampler:

Public Member Functions

 KoulesDirectedControlSampler (const ompl::control::SpaceInformation *si, const ompl::base::GoalPtr &goal, bool propagateMax)
 
virtual unsigned int sampleTo (ompl::control::Control *control, const ompl::base::State *source, ompl::base::State *dest)
 Sample a control given that it will be applied to state state and the intention is to reach state target. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity. More...
 
virtual unsigned int sampleTo (ompl::control::Control *control, const ompl::control::Control *, const ompl::base::State *source, ompl::base::State *dest)
 Sample a control given that it will be applied to state state and the intention is to reach state dest. Also take into account the fact that the previously applied control is previous. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity. More...
 
- Public Member Functions inherited from ompl::control::DirectedControlSampler
 DirectedControlSampler (const DirectedControlSampler &)=delete
 
DirectedControlSampleroperator= (const DirectedControlSampler &)=delete
 
 DirectedControlSampler (const SpaceInformation *si)
 Constructor takes the state space to construct samples for as argument. More...
 
virtual unsigned int sampleTo (Control *control, const base::State *source, base::State *dest)=0
 Sample a control given that it will be applied to state state and the intention is to reach state target. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity. More...
 
virtual unsigned int sampleTo (Control *control, const Control *previous, const base::State *source, base::State *dest)=0
 Sample a control given that it will be applied to state state and the intention is to reach state dest. Also take into account the fact that the previously applied control is previous. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity. More...
 

Protected Attributes

KoulesControlSampler cs_
 
ompl::RNG rng_
 
const ompl::base::GoalPtr goal_
 
const ompl::control::StatePropagatorPtr statePropagator_
 
bool propagateMax_
 
- Protected Attributes inherited from ompl::control::DirectedControlSampler
const SpaceInformationsi_
 The space information this sampler operates on. More...
 

Detailed Description

Definition at line 45 of file KoulesDirectedControlSampler.h.

Constructor & Destructor Documentation

◆ KoulesDirectedControlSampler()

KoulesDirectedControlSampler::KoulesDirectedControlSampler ( const ompl::control::SpaceInformation si,
const ompl::base::GoalPtr goal,
bool  propagateMax 
)
inline

Definition at line 55 of file KoulesDirectedControlSampler.h.

Member Function Documentation

◆ sampleTo() [1/2]

unsigned int KoulesDirectedControlSampler::sampleTo ( ompl::control::Control control,
const ompl::base::State source,
ompl::base::State dest 
)
virtual

Sample a control given that it will be applied to state state and the intention is to reach state target. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity.

Implements ompl::control::DirectedControlSampler.

Definition at line 44 of file KoulesDirectedControlSampler.cpp.

◆ sampleTo() [2/2]

virtual unsigned int KoulesDirectedControlSampler::sampleTo ( ompl::control::Control control,
const ompl::control::Control previous,
const ompl::base::State source,
ompl::base::State dest 
)
inlinevirtual

Sample a control given that it will be applied to state state and the intention is to reach state dest. Also take into account the fact that the previously applied control is previous. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity.

Implements ompl::control::DirectedControlSampler.

Definition at line 67 of file KoulesDirectedControlSampler.h.

Member Data Documentation

◆ cs_

KoulesControlSampler KoulesDirectedControlSampler::cs_
protected

Definition at line 73 of file KoulesDirectedControlSampler.h.

◆ goal_

const ompl::base::GoalPtr KoulesDirectedControlSampler::goal_
protected

Definition at line 75 of file KoulesDirectedControlSampler.h.

◆ propagateMax_

bool KoulesDirectedControlSampler::propagateMax_
protected

Definition at line 77 of file KoulesDirectedControlSampler.h.

◆ rng_

ompl::RNG KoulesDirectedControlSampler::rng_
protected

Definition at line 74 of file KoulesDirectedControlSampler.h.

◆ statePropagator_

const ompl::control::StatePropagatorPtr KoulesDirectedControlSampler::statePropagator_
protected

Definition at line 76 of file KoulesDirectedControlSampler.h.


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