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SimpleDirectedControlSampler.cpp
40ompl::control::SimpleDirectedControlSampler::SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k)
47unsigned int ompl::control::SimpleDirectedControlSampler::sampleTo(Control *control, const base::State *source,
53unsigned int ompl::control::SimpleDirectedControlSampler::sampleTo(Control *control, const Control *previous,
59unsigned int ompl::control::SimpleDirectedControlSampler::getBestControl(Control *control, const base::State *source,
const SpaceInformation * si_
The space information this sampler operates on.
Definition DirectedControlSampler.h:99
unsigned int numControlSamples_
The number of controls to sample when finding the best control.
Definition SimpleDirectedControlSampler.h:115
SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k=1)
Constructor takes the state space to construct samples for as argument Optionally,...
Definition SimpleDirectedControlSampler.cpp:40
virtual unsigned int getBestControl(Control *control, const base::State *source, base::State *dest, const Control *previous)
Samples numControlSamples_ controls, and returns the control that brings the system the closest to ta...
Definition SimpleDirectedControlSampler.cpp:59
ControlSamplerPtr cs_
An instance of the control sampler.
Definition SimpleDirectedControlSampler.h:112
unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override
Sample a control given that it will be applied to state state and the intention is to reach state des...
Definition SimpleDirectedControlSampler.cpp:47
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition SpaceInformation.h:71
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45