ompl/control/SteeredControlSampler.h
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00034 
00035 /* Author: Mark Moll, Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_STEERED_CONTROL_SAMPLER_
00038 #define OMPL_CONTROL_STEERED_CONTROL_SAMPLER_
00039 
00040 #include "ompl/control/DirectedControlSampler.h"
00041 #include "ompl/control/StatePropagator.h"
00042 #include <cmath>
00043 
00044 namespace ompl
00045 {
00046     namespace control
00047     {
00048 
00049 
00053         class SteeredControlSampler : public DirectedControlSampler
00054         {
00055         public:
00056 
00058             SteeredControlSampler(const SpaceInformation *si) : DirectedControlSampler(si)
00059             {
00060             }
00061 
00062             virtual ~SteeredControlSampler()
00063             {
00064             }
00065 
00066             virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest)
00067             {
00068                 double duration;
00069                 if (!si_->getStatePropagator()->steer(source, dest, control, duration)) return 0;
00070                 unsigned int steps = std::floor(duration / si_->getMinControlDuration() + 0.5);
00071                 return si_->propagateWhileValid(source, control, steps, dest);
00072             }
00073 
00074             virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source, base::State *dest)
00075             {
00076                 return sampleTo(control, source, dest);
00077             }
00078         };
00079     }
00080 }
00081 
00082 
00083 #endif
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