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00037 #include "ompl/control/ControlSampler.h"
00038 #include "ompl/control/ControlSpace.h"
00039
00040 void ompl::control::ControlSampler::sample(Control *control, const base::State * )
00041 {
00042 sample(control);
00043 }
00044
00045 void ompl::control::ControlSampler::sampleNext(Control *control, const Control * )
00046 {
00047 sample(control);
00048 }
00049
00050 void ompl::control::ControlSampler::sampleNext(Control *control, const Control * , const base::State * )
00051 {
00052 sample(control);
00053 }
00054
00055 unsigned int ompl::control::ControlSampler::sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
00056 {
00057 return rng_.uniformInt(minSteps, maxSteps);
00058 }
00059
00060 void ompl::control::CompoundControlSampler::addSampler(const ControlSamplerPtr &sampler)
00061 {
00062 samplers_.push_back(sampler);
00063 samplerCount_ = samplers_.size();
00064 }
00065
00066 void ompl::control::CompoundControlSampler::sample(Control *control)
00067 {
00068 Control **comps = static_cast<CompoundControl*>(control)->components;
00069 for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00070 samplers_[i]->sample(comps[i]);
00071 }
00072
00073 void ompl::control::CompoundControlSampler::sample(Control *control, const base::State *state)
00074 {
00075 Control **comps = static_cast<CompoundControl*>(control)->components;
00076 for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00077 samplers_[i]->sample(comps[i], state);
00078 }
00079
00080 void ompl::control::CompoundControlSampler::sampleNext(Control *control, const Control *previous)
00081 {
00082 Control **comps = static_cast<CompoundControl*>(control)->components;
00083 const Control * const *prev = static_cast<const CompoundControl*>(previous)->components;
00084 for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00085 samplers_[i]->sampleNext(comps[i], prev[i]);
00086 }
00087
00088 void ompl::control::CompoundControlSampler::sampleNext(Control *control, const Control *previous, const base::State *state)
00089 {
00090 Control **comps = static_cast<CompoundControl*>(control)->components;
00091 const Control * const *prev = static_cast<const CompoundControl*>(previous)->components;
00092 for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00093 samplers_[i]->sampleNext(comps[i], prev[i], state);
00094 }