SteeredControlSampler.h
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34 
35 /* Author: Mark Moll, Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_STEERED_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_STEERED_CONTROL_SAMPLER_
39 
40 #include "ompl/control/DirectedControlSampler.h"
41 #include "ompl/control/StatePropagator.h"
42 #include "ompl/control/SpaceInformation.h"
43 #include <cmath>
44 
45 namespace ompl
46 {
47  namespace control
48  {
52  class SteeredControlSampler : public DirectedControlSampler
53  {
54  public:
56  SteeredControlSampler(const SpaceInformation *si) : DirectedControlSampler(si)
57  {
58  }
59 
60  ~SteeredControlSampler() override = default;
61 
62  unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override
63  {
64  double duration;
65  if (!si_->getStatePropagator()->steer(source, dest, control, duration))
66  return 0;
67  unsigned int steps = std::floor(duration / si_->getPropagationStepSize() + 0.5);
68  return si_->propagateWhileValid(source, control, steps, dest);
69  }
70 
71  unsigned int sampleTo(Control *control, const Control * /*previous*/, const base::State *source,
72  base::State *dest) override
73  {
74  return sampleTo(control, source, dest);
75  }
76  };
77  }
78 }
79 
80 #endif
const StatePropagatorPtr & getStatePropagator() const
Get the instance of StatePropagator that performs state propagation.
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 tar...
SteeredControlSampler(const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.
std::chrono::system_clock::duration duration
Representation of a time duration.
Definition: Time.h:116
double getPropagationStepSize() const
Propagation is performed at integer multiples of a specified step size. This function returns the val...
const SpaceInformation * si_
The space information this sampler operates on.
unsigned int propagateWhileValid(const base::State *state, const Control *control, int steps, base::State *result) const
Propagate the model of the system forward, starting at a given state, with a given control,...
Main namespace. Contains everything in this library.
Definition: AppBase.h:20