ompl/control/ControlSampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_CONTROL_SAMPLER_
00038 #define OMPL_CONTROL_CONTROL_SAMPLER_
00039 
00040 #include "ompl/base/State.h"
00041 #include "ompl/control/Control.h"
00042 #include "ompl/util/RandomNumbers.h"
00043 #include "ompl/util/ClassForward.h"
00044 #include <vector>
00045 #include <boost/function.hpp>
00046 #include <boost/noncopyable.hpp>
00047 
00048 namespace ompl
00049 {
00050     namespace control
00051     {
00052 
00054         OMPL_CLASS_FORWARD(ControlSpace);
00056 
00058 
00059         OMPL_CLASS_FORWARD(ControlSampler);
00061 
00070         class ControlSampler : private boost::noncopyable
00071         {
00072         public:
00073 
00075             ControlSampler(const ControlSpace *space) : space_(space)
00076             {
00077             }
00078 
00079             virtual ~ControlSampler()
00080             {
00081             }
00082 
00086             virtual void sample(Control *control) = 0;
00087 
00096             virtual void sample(Control *control, const base::State *state);
00097 
00105             virtual void sampleNext(Control *control, const Control *previous);
00106 
00114             virtual void sampleNext(Control *control, const Control *previous, const base::State *state);
00115 
00117             virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps);
00118 
00119         protected:
00120 
00122             const ControlSpace    *space_;
00123 
00125             RNG                    rng_;
00126         };
00127 
00129         class CompoundControlSampler : public ControlSampler
00130         {
00131         public:
00132 
00134             CompoundControlSampler(const ControlSpace *space) : ControlSampler(space)
00135             {
00136             }
00137 
00139             virtual ~CompoundControlSampler()
00140             {
00141             }
00142 
00146             virtual void addSampler(const ControlSamplerPtr &sampler);
00147 
00148 
00149             virtual void sample(Control *control);
00150             virtual void sample(Control *control, const base::State *state);
00151             virtual void sampleNext(Control *control, const Control *previous);
00152             virtual void sampleNext(Control *control, const Control *previous, const base::State *state);
00153 
00154         protected:
00155 
00157             std::vector<ControlSamplerPtr> samplers_;
00158 
00159         private:
00160 
00162             unsigned int                   samplerCount_;
00163 
00164         };
00165 
00167         typedef boost::function<ControlSamplerPtr(const ControlSpace*)> ControlSamplerAllocator;
00168     }
00169 }
00170 
00171 
00172 #endif
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