37 #ifndef DEMOS_KOULES_DIRECTEDCONTROLSAMPLER_
38 #define DEMOS_KOULES_DIRECTEDCONTROLSAMPLER_
40 #include "KoulesControlSpace.h"
41 #include <ompl/control/SpaceInformation.h>
42 #include <ompl/base/Goal.h>
59 propagateMax_(propagateMax)
70 return sampleTo(control, source, dest);
76 const ompl::control::StatePropagatorPtr statePropagator_;
Definition of an abstract control.
virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::control::Control *, const ompl::base::State *source, ompl::base::State *dest)
Sample a control given that it will be applied to state state and the intention is to reach state des...
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
Abstract definition of a directed control sampler. Motion planners that need to sample controls that ...
Definition of an abstract state.
DirectedControlSampler(const SpaceInformation *si)
Constructor takes the state space to construct samples for as argument.
virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::base::State *source, ompl::base::State *dest)
Sample a control given that it will be applied to state state and the intention is to reach state tar...
A boost shared pointer wrapper for ompl::base::Goal.