KoulesDirectedControlSampler.cpp
44 unsigned int KoulesDirectedControlSampler::sampleTo(oc::Control *control, const ob::State *source, ob::State *dest)
double getPropagationStepSize() const
Propagation is performed at integer multiples of a specified step size. This function returns the val...
Definition: SpaceInformation.h:207
unsigned int getMinControlDuration() const
Get the minimum number of steps a control is propagated for.
Definition: SpaceInformation.h:161
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition: Control.h:44
bool isValid(const State *state) const
Check if a given state is valid or not.
Definition: SpaceInformation.h:98
void copyState(State *destination, const State *source) const
Copy a state to another.
Definition: SpaceInformation.h:244
virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
Sample a number of steps to execute a control for.
Definition: ControlSampler.cpp:55
unsigned int getMaxControlDuration() const
Get the maximum number of steps a control is propagated for.
Definition: SpaceInformation.h:167
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
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...
Definition: KoulesDirectedControlSampler.cpp:44
const SpaceInformation * si_
The space information this sampler operates on.
Definition: DirectedControlSampler.h:99