ompl/control/src/ControlSampler.cpp
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, Rice University
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Rice University nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/control/ControlSampler.h"
00038 #include "ompl/control/ControlSpace.h"
00039 
00040 void ompl::control::ControlSampler::sample(Control *control, const base::State * /* state */)
00041 {
00042     sample(control);
00043 }
00044 
00045 void ompl::control::ControlSampler::sampleNext(Control *control, const Control * /* previous */)
00046 {
00047     sample(control);
00048 }
00049 
00050 void ompl::control::ControlSampler::sampleNext(Control *control, const Control * /* previous */, const base::State * /* state */)
00051 {
00052     sample(control);
00053 }
00054 
00055 unsigned int ompl::control::ControlSampler::sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
00056 {
00057     return rng_.uniformInt(minSteps, maxSteps);
00058 }
00059 
00060 void ompl::control::CompoundControlSampler::addSampler(const ControlSamplerPtr &sampler)
00061 {
00062     samplers_.push_back(sampler);
00063     samplerCount_ = samplers_.size();
00064 }
00065 
00066 void ompl::control::CompoundControlSampler::sample(Control *control)
00067 {
00068     Control **comps = static_cast<CompoundControl*>(control)->components;
00069     for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00070         samplers_[i]->sample(comps[i]);
00071 }
00072 
00073 void ompl::control::CompoundControlSampler::sample(Control *control, const base::State *state)
00074 {
00075     Control **comps = static_cast<CompoundControl*>(control)->components;
00076     for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00077         samplers_[i]->sample(comps[i], state);
00078 }
00079 
00080 void ompl::control::CompoundControlSampler::sampleNext(Control *control, const Control *previous)
00081 {
00082     Control **comps = static_cast<CompoundControl*>(control)->components;
00083     const Control * const *prev = static_cast<const CompoundControl*>(previous)->components;
00084     for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00085         samplers_[i]->sampleNext(comps[i], prev[i]);
00086 }
00087 
00088 void ompl::control::CompoundControlSampler::sampleNext(Control *control, const Control *previous, const base::State *state)
00089 {
00090     Control **comps = static_cast<CompoundControl*>(control)->components;
00091     const Control * const *prev = static_cast<const CompoundControl*>(previous)->components;
00092     for (unsigned int i = 0 ; i < samplerCount_ ; ++i)
00093         samplers_[i]->sampleNext(comps[i], prev[i], state);
00094 }
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines