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<div class="title">ControlSampler.cpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">* Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">*</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">* Copyright (c) 2010, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">* All rights reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">*</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">* Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">* modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">* are met:</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">*</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">* * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">* notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">* * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="comment">* copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="comment">* disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="comment">* with the distribution.</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="comment">* * Neither the name of the Rice University nor the names of its</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">* contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="comment">* from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="comment">*</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span> <span class="comment">*********************************************************************/</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  </div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> <span class="comment">/* Author: Ioan Sucan */</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="preprocessor">#include "ompl/control/ControlSampler.h"</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#include "ompl/control/ControlSpace.h"</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  </div>
<div class="line"><a name="l00040"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSampler.html#a77d53f1753437f4e0e5b99b0e5480389"> 40</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a7a03d0a64571c397ef6fa3646c002614">ompl::control::ControlSampler::sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> * <span class="comment">/* state */</span>)</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> {</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a7a03d0a64571c397ef6fa3646c002614">sample</a>(control);</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> }</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6"> 45</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6">ompl::control::ControlSampler::sampleNext</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> * <span class="comment">/* previous */</span>)</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  sample(control);</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> }</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  </div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSampler.html#a5e268c8c0619786358269cb9a9e16831"> 50</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6">ompl::control::ControlSampler::sampleNext</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> * <span class="comment">/* previous */</span>,</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> * <span class="comment">/* state */</span>)</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> {</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  sample(control);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> }</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSampler.html#a17b7122806113cad38db04340eab10ef"> 56</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a17b7122806113cad38db04340eab10ef">ompl::control::ControlSampler::sampleStepCount</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps)</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">return</span> rng_.uniformInt(minSteps, maxSteps);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> }</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSampler.html#a52d2e68db2f9b1531de74a35ff9a7e8b"> 61</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a52d2e68db2f9b1531de74a35ff9a7e8b">ompl::control::CompoundControlSampler::addSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> &sampler)</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  samplers_.push_back(sampler);</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  samplerCount_ = samplers_.size();</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> }</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSampler.html#aea72a800d40fde1ec2fd0f7245fe0dd1"> 67</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#aea72a800d40fde1ec2fd0f7245fe0dd1">ompl::control::CompoundControlSampler::sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control)</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> {</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html">CompoundControl</a> *<span class="keyword">></span>(control)->components;</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < samplerCount_; ++i)</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  samplers_[i]->sample(comps[i]);</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> }</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  </div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSampler.html#ab4e76602a2c4176b744328ab6e33bfc1"> 74</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#aea72a800d40fde1ec2fd0f7245fe0dd1">ompl::control::CompoundControlSampler::sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *state)</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> {</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html">CompoundControl</a> *<span class="keyword">></span>(control)->components;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < samplerCount_; ++i)</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  samplers_[i]->sample(comps[i], state);</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> }</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  </div>
<div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSampler.html#a44796668db2ea7ebced3c46449e19c77"> 81</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a44796668db2ea7ebced3c46449e19c77">ompl::control::CompoundControlSampler::sampleNext</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *previous)</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span> {</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html">CompoundControl</a> *<span class="keyword">></span>(control)->components;</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *<span class="keyword">const</span> *prev = <span class="keyword">static_cast<</span><span class="keyword">const </span><a class="code" href="classompl_1_1control_1_1CompoundControl.html">CompoundControl</a> *<span class="keyword">></span>(previous)->components;</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < samplerCount_; ++i)</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  samplers_[i]->sampleNext(comps[i], prev[i]);</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> }</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  </div>
<div class="line"><a name="l00089"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1CompoundControlSampler.html#aecdada8396196485bf516ccdb27fd01e"> 89</a></span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a44796668db2ea7ebced3c46449e19c77">ompl::control::CompoundControlSampler::sampleNext</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *previous,</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *state)</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> {</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html">CompoundControl</a> *<span class="keyword">></span>(control)->components;</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *<span class="keyword">const</span> *prev = <span class="keyword">static_cast<</span><span class="keyword">const </span><a class="code" href="classompl_1_1control_1_1CompoundControl.html">CompoundControl</a> *<span class="keyword">></span>(previous)->components;</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < samplerCount_; ++i)</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  samplers_[i]->sampleNext(comps[i], prev[i], state);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span> }</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1control_1_1Control_html"><div class="ttname"><a href="classompl_1_1control_1_1Control.html">ompl::control::Control</a></div><div class="ttdoc">Definition of an abstract control.</div><div class="ttdef"><b>Definition:</b> <a href="Control_8h_source.html#l00111">Control.h:111</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSampler_html_a52d2e68db2f9b1531de74a35ff9a7e8b"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSampler.html#a52d2e68db2f9b1531de74a35ff9a7e8b">ompl::control::CompoundControlSampler::addSampler</a></div><div class="ttdeci">virtual void addSampler(const ControlSamplerPtr &sampler)</div><div class="ttdoc">Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compoun...</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8cpp_source.html#l00061">ControlSampler.cpp:61</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControl_html"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControl.html">ompl::control::CompoundControl</a></div><div class="ttdoc">Definition of a compound control.</div><div class="ttdef"><b>Definition:</b> <a href="Control_8h_source.html#l00148">Control.h:148</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSampler_html_a17b7122806113cad38db04340eab10ef"><div class="ttname"><a href="classompl_1_1control_1_1ControlSampler.html#a17b7122806113cad38db04340eab10ef">ompl::control::ControlSampler::sampleStepCount</a></div><div class="ttdeci">virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)</div><div class="ttdoc">Sample a number of steps to execute a control for.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8cpp_source.html#l00056">ControlSampler.cpp:56</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSampler_html_a44796668db2ea7ebced3c46449e19c77"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSampler.html#a44796668db2ea7ebced3c46449e19c77">ompl::control::CompoundControlSampler::sampleNext</a></div><div class="ttdeci">void sampleNext(Control *control, const Control *previous) override</div><div class="ttdoc">Sample a control, given the previously applied control. The default implementation calls the first de...</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8cpp_source.html#l00081">ControlSampler.cpp:81</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSamplerPtr_html"><div class="ttname"><a href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a></div><div class="ttdoc">A shared pointer wrapper for ompl::control::ControlSampler.</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSampler_html_a7a03d0a64571c397ef6fa3646c002614"><div class="ttname"><a href="classompl_1_1control_1_1ControlSampler.html#a7a03d0a64571c397ef6fa3646c002614">ompl::control::ControlSampler::sample</a></div><div class="ttdeci">virtual void sample(Control *control)=0</div><div class="ttdoc">Sample a control. All other control sampling functions default to this one, unless a user-specified i...</div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSampler_html_a0a57ad73f9db82b17d933cb504efdbf6"><div class="ttname"><a href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6">ompl::control::ControlSampler::sampleNext</a></div><div class="ttdeci">virtual void sampleNext(Control *control, const Control *previous)</div><div class="ttdoc">Sample a control, given the previously applied control. The default implementation calls the first de...</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8cpp_source.html#l00045">ControlSampler.cpp:45</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSampler_html_aea72a800d40fde1ec2fd0f7245fe0dd1"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSampler.html#aea72a800d40fde1ec2fd0f7245fe0dd1">ompl::control::CompoundControlSampler::sample</a></div><div class="ttdeci">void sample(Control *control) override</div><div class="ttdoc">Sample a control. All other control sampling functions default to this one, unless a user-specified i...</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8cpp_source.html#l00067">ControlSampler.cpp:67</a></div></div>
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