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| KoulesDirectedControlSampler (const ompl::control::SpaceInformation *si, const ompl::base::GoalPtr &goal, bool propagateMax) |
virtual unsigned int | sampleTo (ompl::control::Control *control, const ompl::base::State *source, ompl::base::State *dest) |
| Sample a control given that it will be applied to state state and the intention is to reach state target. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity.
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virtual unsigned int | sampleTo (ompl::control::Control *control, const ompl::control::Control *, const ompl::base::State *source, ompl::base::State *dest) |
| Sample a control given that it will be applied to state state and the intention is to reach state dest. Also take into account the fact that the previously applied control is previous. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity.
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| DirectedControlSampler (const DirectedControlSampler &)=delete |
DirectedControlSampler & | operator= (const DirectedControlSampler &)=delete |
| DirectedControlSampler (const SpaceInformation *si) |
| Constructor takes the state space to construct samples for as argument.
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◆ KoulesDirectedControlSampler()
◆ sampleTo() [1/2]
Sample a control given that it will be applied to state state and the intention is to reach state target. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity.
Implements ompl::control::DirectedControlSampler.
Definition at line 44 of file KoulesDirectedControlSampler.cpp.
◆ sampleTo() [2/2]
Sample a control given that it will be applied to state state and the intention is to reach state dest. Also take into account the fact that the previously applied control is previous. This is useful for some algorithms that have a notion of direction in their exploration (e.g., cRRT). Furthermore, return the duration for which this control should be applied. The state dest is modified to match the state reached with the computed control and duration. The motion is checked for validity.
Implements ompl::control::DirectedControlSampler.
Definition at line 67 of file KoulesDirectedControlSampler.h.
◆ cs_
◆ goal_
◆ propagateMax_
bool KoulesDirectedControlSampler::propagateMax_ |
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◆ rng_
◆ statePropagator_
const ompl::control::StatePropagatorPtr KoulesDirectedControlSampler::statePropagator_ |
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The documentation for this class was generated from the following files: