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SimpleDirectedControlSampler.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
38 #define OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
39 
40 #include "ompl/control/DirectedControlSampler.h"
41 #include "ompl/control/ControlSampler.h"
42 
43 namespace ompl
44 {
45  namespace control
46  {
47 
61  {
62  public:
63 
67  SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k = 1);
68 
69  virtual ~SimpleDirectedControlSampler(void);
70 
72  unsigned int getNumControlSamples (void) const
73  {
74  return numControlSamples_;
75  }
76 
78  void setNumControlSamples (unsigned int numSamples)
79  {
80  numControlSamples_ = numSamples;
81  }
82 
92  virtual unsigned int sampleTo(Control *control, const base::State *source, const base::State *target);
93 
105  virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source, const base::State *target);
106 
107  protected:
108 
111  virtual unsigned int getBestControl (Control *control, const base::State *source, const base::State *target, const Control *previous);
112 
115 
117  unsigned int numControlSamples_;
118 
119  };
120 
121  }
122 }
123 
124 
125 #endif