Class DirectedControlSampler

Inheritance Relationships

Derived Types

Class Documentation

class DirectedControlSampler

Abstract definition of a directed control sampler. Motion planners that need to sample controls that take the system to a desired direction will call functions from this class. Planners should call the versions of sampleTo() with most arguments, whenever this information is available. If no direction information is available, the use of a ControlSampler is perhaps more appropriate.

Subclassed by ompl::control::SimpleDirectedControlSampler, ompl::control::SteeredControlSampler

Public Functions

DirectedControlSampler(const DirectedControlSampler&) = delete
DirectedControlSampler &operator=(const DirectedControlSampler&) = delete
inline DirectedControlSampler(const SpaceInformation *si)

Constructor takes the state space to construct samples for as argument.

virtual ~DirectedControlSampler() = default
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.

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.

Protected Attributes

const SpaceInformation *si_

The space information this sampler operates on.