ompl/control/SimpleDirectedControlSampler.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
00038 #define OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
00039 
00040 #include "ompl/control/DirectedControlSampler.h"
00041 #include "ompl/control/ControlSampler.h"
00042 
00043 namespace ompl
00044 {
00045     namespace control
00046     {
00047 
00060         class SimpleDirectedControlSampler : public DirectedControlSampler
00061         {
00062         public:
00063 
00067             SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k = 1);
00068 
00069             virtual ~SimpleDirectedControlSampler();
00070 
00072             unsigned int getNumControlSamples () const
00073             {
00074                 return numControlSamples_;
00075             }
00076 
00078             void setNumControlSamples (unsigned int numSamples)
00079             {
00080                 numControlSamples_ = numSamples;
00081             }
00082 
00091             virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest);
00092 
00103             virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source, base::State *dest);
00104 
00105         protected:
00106 
00109             virtual unsigned int getBestControl (Control *control, const base::State *source, base::State *dest, const Control *previous);
00110 
00112             ControlSamplerPtr       cs_;
00113 
00115             unsigned int            numControlSamples_;
00116 
00117         };
00118 
00119     }
00120 }
00121 
00122 
00123 #endif
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