KoulesControlSpace.h
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35/* Author: Beck Chen, Mark Moll */
36
37#ifndef DEMOS_KOULES_CONTROLSPACE_
38#define DEMOS_KOULES_CONTROLSPACE_
39
40#include <ompl/control/spaces/RealVectorControlSpace.h>
41
42// Control sampler for KoulesControlSpace
44{
45public:
47 {
48 }
49 // Sample random velocity with magnitude between vmin and vmax and
50 // orientation uniformly random over [0, 2*pi].
51 // (This method is not actually ever called.)
52 virtual void sample(ompl::control::Control *control);
53 // sample random velocity with magnitude between vmin and vmax and
54 // direction given by the normalized vector from the current position
55 // in state and a random point in the workspace
56 virtual void sample(ompl::control::Control *control, const ompl::base::State *state);
57 virtual void sampleNext(ompl::control::Control *control, const ompl::control::Control * /* previous */,
58 const ompl::base::State *state)
59 {
60 sample(control, state);
61 }
62 virtual void steer(ompl::control::Control *control, const ompl::base::State *state, double x, double y);
63
64protected:
65 ompl::RNG rng_;
66};
67
69{
70public:
71 KoulesControlSpace(unsigned int numKoules);
72
74 {
75 return std::make_shared<KoulesControlSampler>(this);
76 }
77};
78
79
80
81#endif
virtual void sampleNext(ompl::control::Control *control, const ompl::control::Control *, const ompl::base::State *state)
Sample a control, given the previously applied control and that it is applied to a specific state....
virtual void sample(ompl::control::Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
virtual ompl::control::ControlSamplerPtr allocDefaultControlSampler() const
Allocate the default control sampler.
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Definition: RandomNumbers.h:58
Definition of an abstract state.
Definition: State.h:50
A shared pointer wrapper for ompl::control::ControlSampler.
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
A control space representing the space of applicable controls.
Definition: ControlSpace.h:64
Definition of an abstract control.
Definition: Control.h:48
A control space representing Rn.