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ControlSampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_CONTROL_SAMPLER_
00038 #define OMPL_CONTROL_CONTROL_SAMPLER_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/control/Control.h"
00042 #include "ompl/util/RandomNumbers.h"
00043 #include "ompl/util/ClassForward.h"
00044 #include <vector>
00045 #include <boost/function.hpp>
00046 
00047 namespace ompl
00048 {
00049     namespace control
00050     {
00051 
00052         ClassForward(ControlSpace);
00053 
00055         ClassForward(ControlSampler);
00056 
00065         class ControlSampler
00066         {
00067         public:
00068 
00070             ControlSampler(const ControlSpace *space) : space_(space)
00071             {
00072             }
00073 
00074             virtual ~ControlSampler(void)
00075             {
00076             }
00077 
00081             virtual void sample(Control *control) = 0;
00082 
00091             virtual void sample(Control *control, const base::State *state);
00092 
00100             virtual void sampleNext(Control *control, const Control *previous);
00101 
00109             virtual void sampleNext(Control *control, const Control *previous, const base::State *state);
00110 
00116             virtual void sampleTo(Control *control, const base::State *source, const base::State *target);
00117 
00126             virtual void sampleTo(Control *control, const Control *previous, const base::State *source, const base::State *target);
00127 
00137             virtual unsigned int sampleTo(Control *control, unsigned int minSteps, unsigned int maxSteps, const base::State *source, const base::State *target);
00138 
00150             virtual unsigned int sampleTo(Control *control, unsigned int minSteps, unsigned int maxSteps, const Control *previous, const base::State *source, const base::State *target);
00151 
00153             virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps);
00154 
00155         protected:
00156 
00158             const ControlSpace    *space_;
00159 
00161             RNG                    rng_;
00162         };
00163 
00165         class CompoundControlSampler : public ControlSampler
00166         {
00167         public:
00168 
00170             CompoundControlSampler(const ControlSpace* space) : ControlSampler(space)
00171             {
00172             }
00173 
00175             virtual ~CompoundControlSampler(void)
00176             {
00177             }
00178 
00182             virtual void addSampler(const ControlSamplerPtr &sampler);
00183 
00184 
00185             virtual void sample(Control *control);
00186             virtual void sample(Control *control, const base::State *state);
00187             virtual void sampleNext(Control *control, const Control *previous);
00188             virtual void sampleNext(Control *control, const Control *previous, const base::State *state);
00189             virtual void sampleTo(Control *control, const base::State *source, const base::State *target);
00190             virtual void sampleTo(Control *control, const Control *previous, const base::State *source, const base::State *target);
00191             virtual unsigned int sampleTo(Control *control, unsigned int minSteps, unsigned int maxSteps, const base::State *source, const base::State *target);
00192             virtual unsigned int sampleTo(Control *control, unsigned int minSteps, unsigned int maxSteps, const Control *previous, const base::State *source, const base::State *target);
00193 
00194         protected:
00195 
00197             std::vector<ControlSamplerPtr> samplers_;
00198 
00199         private:
00200 
00202             unsigned int                   samplerCount_;
00203 
00204         };
00205 
00207         typedef boost::function1<ControlSamplerPtr, const ControlSpace*> ControlSamplerAllocator;
00208     }
00209 }
00210 
00211 
00212 #endif