Class SteeredControlSampler

Inheritance Relationships

Base Type

Class Documentation

class SteeredControlSampler : public ompl::control::DirectedControlSampler

Abstract definition of a steered control sampler. It uses the steering function in a state propagator to find the controls that drive from one state to another.

Public Functions

inline SteeredControlSampler(const SpaceInformation *si)

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

~SteeredControlSampler() override = default
inline virtual 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 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.

inline virtual unsigned int sampleTo(Control *control, const 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 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.