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KoulesControlSpace.h
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34
35/* Author: Beck Chen, Mark Moll */
36
37#ifndef DEMOS_KOULES_CONTROLSPACE_
38#define DEMOS_KOULES_CONTROLSPACE_
39
40#include <ompl/control/spaces/RealVectorControlSpace.h>
41
42// Control sampler for KoulesControlSpace
43class KoulesControlSampler : public ompl::control::ControlSampler
44{
45public:
46 KoulesControlSampler(const ompl::control::ControlSpace *space) : ompl::control::ControlSampler(space)
47 {
48 }
49 // Sample random velocity with magnitude between vmin and vmax and
50 // orientation uniformly random over [0, 2*pi].
51 // (This method is not actually ever called.)
52 virtual void sample(ompl::control::Control *control);
53 // sample random velocity with magnitude between vmin and vmax and
54 // direction given by the normalized vector from the current position
55 // in state and a random point in the workspace
56 virtual void sample(ompl::control::Control *control, const ompl::base::State *state);
57 virtual void sampleNext(ompl::control::Control *control, const ompl::control::Control * /* previous */,
58 const ompl::base::State *state)
59 {
60 sample(control, state);
61 }
62 virtual void steer(ompl::control::Control *control, const ompl::base::State *state, double x, double y);
63
64protected:
65 ompl::RNG rng_;
66};
67
68class KoulesControlSpace : public ompl::control::RealVectorControlSpace
69{
70public:
71 KoulesControlSpace(unsigned int numKoules);
72
73 virtual ompl::control::ControlSamplerPtr allocDefaultControlSampler() const
74 {
75 return std::make_shared<KoulesControlSampler>(this);
76 }
77};
78
79
80
81#endif
virtual void sampleNext(ompl::control::Control *control, const ompl::control::Control *, const ompl::base::State *state)
Sample a control, given the previously applied control and that it is applied to a specific state....
virtual void sample(ompl::control::Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
virtual ompl::control::ControlSamplerPtr allocDefaultControlSampler() const
Allocate the default control sampler.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition of an abstract state.
Definition State.h:50
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
A control space representing the space of applicable controls.
Definition of an abstract control.
Definition Control.h:48
A control space representing Rn.