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DirectedControlSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_DIRECTED_CONTROL_SAMPLER_
39 
40 #include "ompl/base/State.h"
41 #include "ompl/control/Control.h"
42 #include "ompl/util/ClassForward.h"
43 #include <boost/function.hpp>
44 #include <boost/noncopyable.hpp>
45 
46 namespace ompl
47 {
48  namespace control
49  {
50 
52  OMPL_CLASS_FORWARD(SpaceInformation);
53  OMPL_CLASS_FORWARD(DirectedControlSampler);
55 
63  class DirectedControlSampler : private boost::noncopyable
64  {
65  public:
66 
69  {
70  }
71 
72  virtual ~DirectedControlSampler(void)
73  {
74  }
75 
82  virtual unsigned int sampleTo(Control *control, const base::State *source, const base::State *target) = 0;
83 
92  virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source, const base::State *target) = 0;
93 
94  protected:
95 
98 
99  };
100 
102  typedef boost::function<DirectedControlSamplerPtr(const SpaceInformation*)> DirectedControlSamplerAllocator;
103  }
104 }
105 
106 
107 #endif