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ControlSampler.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/control/ControlSampler.h"
38#include "ompl/control/ControlSpace.h"
39
41{
42 sample(control);
43}
44
45void ompl::control::ControlSampler::sampleNext(Control *control, const Control * /* previous */)
46{
47 sample(control);
48}
49
50void ompl::control::ControlSampler::sampleNext(Control *control, const Control * /* previous */,
51 const base::State * /* state */)
52{
53 sample(control);
54}
55
56unsigned int ompl::control::ControlSampler::sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
57{
58 return rng_.uniformInt(minSteps, maxSteps);
59}
60
62{
63 samplers_.push_back(sampler);
64 samplerCount_ = samplers_.size();
65}
66
68{
69 Control **comps = static_cast<CompoundControl *>(control)->components;
70 for (unsigned int i = 0; i < samplerCount_; ++i)
71 samplers_[i]->sample(comps[i]);
72}
73
75{
76 Control **comps = static_cast<CompoundControl *>(control)->components;
77 for (unsigned int i = 0; i < samplerCount_; ++i)
78 samplers_[i]->sample(comps[i], state);
79}
80
82{
83 Control **comps = static_cast<CompoundControl *>(control)->components;
84 const Control *const *prev = static_cast<const CompoundControl *>(previous)->components;
85 for (unsigned int i = 0; i < samplerCount_; ++i)
86 samplers_[i]->sampleNext(comps[i], prev[i]);
87}
88
90 const base::State *state)
91{
92 Control **comps = static_cast<CompoundControl *>(control)->components;
93 const Control *const *prev = static_cast<const CompoundControl *>(previous)->components;
94 for (unsigned int i = 0; i < samplerCount_; ++i)
95 samplers_[i]->sampleNext(comps[i], prev[i], state);
96}
Definition of an abstract state.
Definition State.h:50
void sampleNext(Control *control, const Control *previous) override
Sample a control, given the previously applied control. The default implementation calls the first de...
virtual void addSampler(const ControlSamplerPtr &sampler)
Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compoun...
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition of a compound control.
Definition Control.h:85
A shared pointer wrapper for ompl::control::ControlSampler.
virtual void sampleNext(Control *control, const Control *previous)
Sample a control, given the previously applied control. The default implementation calls the first de...
virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
Sample a number of steps to execute a control for.
virtual void sample(Control *control)=0
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition of an abstract control.
Definition Control.h:48