Abstract definition of a directed control sampler. Motion planners that need to sample controls that take the system to a desired direction will call functions from this class. Planners should call the versions of sampleTo() with most arguments, whenever this information is available. If no direction information is available, the use of a ControlSampler is perhaps more appropriate. More...
#include <DirectedControlSampler.h>
Public Member Functions | |
DirectedControlSampler (const SpaceInformation *si) | |
Constructor takes the state space to construct samples for as argument. | |
virtual unsigned int | sampleTo (Control *control, const base::State *source, const base::State *target)=0 |
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. | |
virtual unsigned int | sampleTo (Control *control, const Control *previous, const base::State *source, const base::State *target)=0 |
Sample a control given that it will be applied to state state and the intention is to reach state target. 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., ). Furthermore, return the duration for which this control should be applied. | |
Protected Attributes | |
const SpaceInformation * | si_ |
The space information this sampler operates on. |
Abstract definition of a directed control sampler. Motion planners that need to sample controls that take the system to a desired direction will call functions from this class. Planners should call the versions of sampleTo() with most arguments, whenever this information is available. If no direction information is available, the use of a ControlSampler is perhaps more appropriate.
Definition at line 63 of file DirectedControlSampler.h.