SteeredControlSampler.h
74 virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source, base::State *dest)
unsigned int getMinControlDuration() const
Get the minimum number of steps a control is propagated for.
Definition: SpaceInformation.h:161
unsigned int propagateWhileValid(const base::State *state, const Control *control, int steps, base::State *result) const
Propagate the model of the system forward, starting at a given state, with a given control...
Definition: SpaceInformation.cpp:147
Abstract definition of a steered control sampler. It uses the steering function in a state propagator...
Definition: SteeredControlSampler.h:53
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition: DirectedControlSampler.h:63
virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source, base::State *dest)
Sample a control given that it will be applied to state state and the intention is to reach state des...
Definition: SteeredControlSampler.h:74
SteeredControlSampler(const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.
Definition: SteeredControlSampler.h:58
const SpaceInformation * si_
The space information this sampler operates on.
Definition: DirectedControlSampler.h:99
Space information containing necessary information for planning with controls. setup() needs to be ca...
Definition: SpaceInformation.h:69
virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest)
Sample a control given that it will be applied to state state and the intention is to reach state tar...
Definition: SteeredControlSampler.h:66
const StatePropagatorPtr & getStatePropagator() const
Get the instance of StatePropagator that performs state propagation.
Definition: SpaceInformation.h:188