demos/Koules/KoulesControlSpace.h
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00034 
00035 /* Author: Beck Chen, Mark Moll */
00036 
00037 #ifndef DEMOS_KOULES_CONTROLSPACE_
00038 #define DEMOS_KOULES_CONTROLSPACE_
00039 
00040 #include <ompl/control/spaces/RealVectorControlSpace.h>
00041 
00042 // Control sampler for KoulesControlSpace
00043 class KoulesControlSampler : public ompl::control::ControlSampler
00044 {
00045 public:
00046     KoulesControlSampler(const ompl::control::ControlSpace *space) : ompl::control::ControlSampler(space)
00047     {
00048     }
00049     // Sample random velocity with magnitude between vmin and vmax and
00050     // orientation uniformly random over [0, 2*pi].
00051     // (This method is not actually ever called.)
00052     virtual void sample(ompl::control::Control *control);
00053     // sample random velocity with magnitude between vmin and vmax and
00054     // direction given by the normalized vector from the current position
00055     // in state and a random point in the workspace
00056     virtual void sample(ompl::control::Control *control, const ompl::base::State *state);
00057     virtual void sampleNext(ompl::control::Control *control, const ompl::control::Control * /* previous */,
00058         const ompl::base::State *state)
00059     {
00060         sample(control, state);
00061     }
00062     virtual void steer(ompl::control::Control *control, const ompl::base::State *state, double x, double y);
00063 
00064 protected:
00065     ompl::RNG rng_;
00066 };
00067 
00068 class KoulesControlSpace : public ompl::control::RealVectorControlSpace
00069 {
00070 public:
00071     KoulesControlSpace(unsigned int numKoules);
00072 
00073     virtual ompl::control::ControlSamplerPtr allocDefaultControlSampler(void) const
00074     {
00075         return ompl::control::ControlSamplerPtr(new KoulesControlSampler(this));
00076     }
00077 };
00078 
00079 
00080 
00081 #endif
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