demos/Koules/KoulesDirectedControlSampler.h
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00034 
00035 /* Author: Beck Chen, Mark Moll */
00036 
00037 #ifndef DEMOS_KOULES_DIRECTEDCONTROLSAMPLER_
00038 #define DEMOS_KOULES_DIRECTEDCONTROLSAMPLER_
00039 
00040 #include "KoulesControlSpace.h"
00041 #include <ompl/control/SpaceInformation.h>
00042 #include <ompl/base/Goal.h>
00043 
00044 // Directed control sampler
00045 class KoulesDirectedControlSampler : public ompl::control::DirectedControlSampler
00046 {
00047 public:
00048     // The KoulesDirectedControlSampler attempts to steer the system towards
00049     // a desired state. It takes as additional arguments a goal pointer and a
00050     // a flag called propagateMax. The goal pointer is needed to stop the
00051     // motion when the goal is reached before the desired state. The
00052     // propagateMax flag indicates that the motion is always extended
00053     // upto the maximum control duration (rather than a randomly sampled limit
00054     // between the min and max control duration)
00055     KoulesDirectedControlSampler(const ompl::control::SpaceInformation *si,
00056         const ompl::base::GoalPtr &goal, bool propagateMax)
00057         : DirectedControlSampler(si), cs_(si->getControlSpace().get()),
00058         goal_(goal), statePropagator_(si->getStatePropagator()),
00059         propagateMax_(propagateMax)
00060     {
00061     }
00062     // This sampleTo implementation contains a modified version of the method
00063     // ompl::control::SpaceInformation::propagateWhileValid, with the key difference
00064     // that sampleTo also terminates when the goal is reached.
00065     virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::base::State *source, ompl::base::State *dest);
00066 
00067     virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::control::Control * /* previous */,
00068         const ompl::base::State *source, ompl::base::State *dest)
00069     {
00070         return sampleTo(control, source, dest);
00071     }
00072 protected:
00073     KoulesControlSampler                     cs_;
00074     ompl::RNG                                rng_;
00075     const ompl::base::GoalPtr                goal_;
00076     const ompl::control::StatePropagatorPtr  statePropagator_;
00077     bool                                     propagateMax_;
00078 };
00079 
00080 #endif
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