SimpleDirectedControlSampler.h
108 virtual unsigned int getBestControl(Control *control, const base::State *source, base::State *dest,
void setNumControlSamples(unsigned int numSamples)
Set the number of controls to generate when finding the best control.
Definition: SimpleDirectedControlSampler.h:77
A shared pointer wrapper for ompl::control::ControlSampler.
virtual unsigned int getBestControl(Control *control, const base::State *source, base::State *dest, const Control *previous)
Samples numControlSamples_ controls, and returns the control that brings the system the closest to ta...
Definition: SimpleDirectedControlSampler.cpp:59
unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override
Sample a control given that it will be applied to state state and the intention is to reach state des...
Definition: SimpleDirectedControlSampler.cpp:47
unsigned int getNumControlSamples() const
Retrieve the number of controls to generate when finding the best control.
Definition: SimpleDirectedControlSampler.h:71
SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k=1)
Constructor takes the state space to construct samples for as argument Optionally, a k value can be given to indicate the number of controls to try when directing a system toward a specific state. Default value is 1.
Definition: SimpleDirectedControlSampler.cpp:40
Implementation of a simple directed control sampler. This is a basic implementation that does not act...
Definition: SimpleDirectedControlSampler.h:60
ControlSamplerPtr cs_
An instance of the control sampler.
Definition: SimpleDirectedControlSampler.h:112
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition: DirectedControlSampler.h:62
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:70
unsigned int numControlSamples_
The number of controls to sample when finding the best control.
Definition: SimpleDirectedControlSampler.h:115