KoulesDirectedControlSampler Class Reference
Inheritance diagram for KoulesDirectedControlSampler:

Public Member Functions

 KoulesDirectedControlSampler (const ompl::control::SpaceInformation *si, const ompl::base::GoalPtr &goal, bool propagateMax)
 
virtual unsigned int sampleTo (ompl::control::Control *control, const ompl::base::State *source, ompl::base::State *dest)
 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 (ompl::control::Control *control, const ompl::control::Control *, const ompl::base::State *source, ompl::base::State *dest)
 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.
 
- Public Member Functions inherited from ompl::control::DirectedControlSampler
 DirectedControlSampler (const DirectedControlSampler &)=delete
 
DirectedControlSampleroperator= (const DirectedControlSampler &)=delete
 
 DirectedControlSampler (const SpaceInformation *si)
 Constructor takes the state space to construct samples for as argument.
 

Protected Attributes

KoulesControlSampler cs_
 
ompl::RNG rng_
 
const ompl::base::GoalPtr goal_
 
const ompl::control::StatePropagatorPtr statePropagator_
 
bool propagateMax_
 
- Protected Attributes inherited from ompl::control::DirectedControlSampler
const SpaceInformationsi_
 The space information this sampler operates on.
 

Detailed Description

Definition at line 44 of file KoulesDirectedControlSampler.h.


The documentation for this class was generated from the following files: