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<div class="title">ControlSampler.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/control/ControlSampler.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/control/ControlSpace.h"</span>
<a name="l00039"></a>00039
<a name="l00040"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#a77d53f1753437f4e0e5b99b0e5480389">00040</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a7a03d0a64571c397ef6fa3646c002614" title="Sample a control. All other control sampling functions default to this one, unless a user-specified i...">ompl::control::ControlSampler::sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> * <span class="comment">/* state */</span>)
<a name="l00041"></a>00041 {
<a name="l00042"></a>00042 <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a7a03d0a64571c397ef6fa3646c002614" title="Sample a control. All other control sampling functions default to this one, unless a user-specified i...">sample</a>(control);
<a name="l00043"></a>00043 }
<a name="l00044"></a>00044
<a name="l00045"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6">00045</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6" title="Sample a control, given the previously applied control. The default implementation calls the first de...">ompl::control::ControlSampler::sampleNext</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> * <span class="comment">/* previous */</span>)
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 sample(control);
<a name="l00048"></a>00048 }
<a name="l00049"></a>00049
<a name="l00050"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#a5e268c8c0619786358269cb9a9e16831">00050</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6" title="Sample a control, given the previously applied control. The default implementation calls the first de...">ompl::control::ControlSampler::sampleNext</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> * <span class="comment">/* previous */</span>, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> * <span class="comment">/* state */</span>)
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 sample(control);
<a name="l00053"></a>00053 }
<a name="l00054"></a>00054
<a name="l00055"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#add9d8f0f757465fe7483bab618fd17ed">00055</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#add9d8f0f757465fe7483bab618fd17ed" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">ompl::control::ControlSampler::sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target)
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 sample(control);
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00060"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#a62124f8d38ba6e27fa0f0d8a816bbc2e">00060</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#add9d8f0f757465fe7483bab618fd17ed" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">ompl::control::ControlSampler::sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> * <span class="comment">/* previous */</span>,
<a name="l00061"></a>00061 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> * <span class="comment">/* source */</span>, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> * <span class="comment">/* target */</span>)
<a name="l00062"></a>00062 {
<a name="l00063"></a>00063 sample(control);
<a name="l00064"></a>00064 }
<a name="l00065"></a>00065
<a name="l00066"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#af3607eeed4491f49405b87ae58584964">00066</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#add9d8f0f757465fe7483bab618fd17ed" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">ompl::control::ControlSampler::sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps,
<a name="l00067"></a>00067 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> * <span class="comment">/* source */</span>, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> * <span class="comment">/* target */</span>)
<a name="l00068"></a>00068 {
<a name="l00069"></a>00069 sample(control);
<a name="l00070"></a>00070 <span class="keywordflow">return</span> sampleStepCount(minSteps, maxSteps);
<a name="l00071"></a>00071 }
<a name="l00072"></a>00072
<a name="l00073"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#abec7f1eef993eb5260e6a832ac6312d4">00073</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#add9d8f0f757465fe7483bab618fd17ed" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">ompl::control::ControlSampler::sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps,
<a name="l00074"></a>00074 <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> * <span class="comment">/* previous */</span>, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> * <span class="comment">/* source */</span>, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> * <span class="comment">/* target */</span>)
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 sample(control);
<a name="l00077"></a>00077 <span class="keywordflow">return</span> sampleStepCount(minSteps, maxSteps);
<a name="l00078"></a>00078 }
<a name="l00079"></a>00079
<a name="l00080"></a><a class="code" href="classompl_1_1control_1_1ControlSampler.html#a17b7122806113cad38db04340eab10ef">00080</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a17b7122806113cad38db04340eab10ef" title="Sample a number of steps to execute a control for.">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)
<a name="l00081"></a>00081 {
<a name="l00082"></a>00082 <span class="keywordflow">return</span> rng_.uniformInt(minSteps, maxSteps);
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00085"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a52d2e68db2f9b1531de74a35ff9a7e8b">00085</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a52d2e68db2f9b1531de74a35ff9a7e8b" title="Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compoun...">ompl::control::CompoundControlSampler::addSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ControlSamplerPtr</a> &sampler)
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087 samplers_.push_back(sampler);
<a name="l00088"></a>00088 samplerCount_ = samplers_.size();
<a name="l00089"></a>00089 }
<a name="l00090"></a>00090
<a name="l00091"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a6314112308482364122c771c7456fcaf">00091</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a6314112308482364122c771c7456fcaf" title="Sample a control. All other control sampling functions default to this one, unless a user-specified i...">ompl::control::CompoundControlSampler::sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control)
<a name="l00092"></a>00092 {
<a name="l00093"></a>00093 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(control)->components;
<a name="l00094"></a>00094 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i)
<a name="l00095"></a>00095 samplers_[i]->sample(comps[i]);
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097
<a name="l00098"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#af0c643e31087483d3f1bdd5ca25bdd86">00098</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a6314112308482364122c771c7456fcaf" title="Sample a control. All other control sampling functions default to this one, unless a user-specified i...">ompl::control::CompoundControlSampler::sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state)
<a name="l00099"></a>00099 {
<a name="l00100"></a>00100 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(control)->components;
<a name="l00101"></a>00101 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i)
<a name="l00102"></a>00102 samplers_[i]->sample(comps[i], state);
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104
<a name="l00105"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a0d33f40da510aad59525e4717e69c509">00105</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a0d33f40da510aad59525e4717e69c509" title="Sample a control, given the previously applied control. The default implementation calls the first de...">ompl::control::CompoundControlSampler::sampleNext</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *previous)
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(control)->components;
<a name="l00108"></a>00108 <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">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" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(previous)->components;
<a name="l00109"></a>00109 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i)
<a name="l00110"></a>00110 samplers_[i]->sampleNext(comps[i], prev[i]);
<a name="l00111"></a>00111 }
<a name="l00112"></a>00112
<a name="l00113"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#ad94fe6ad00a8e302bf9952c25de54ba3">00113</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a0d33f40da510aad59525e4717e69c509" title="Sample a control, given the previously applied control. The default implementation calls the first de...">ompl::control::CompoundControlSampler::sampleNext</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *previous, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state)
<a name="l00114"></a>00114 {
<a name="l00115"></a>00115 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(control)->components;
<a name="l00116"></a>00116 <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">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" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(previous)->components;
<a name="l00117"></a>00117 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i)
<a name="l00118"></a>00118 samplers_[i]->sampleNext(comps[i], prev[i], state);
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120
<a name="l00121"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a79a7d8e1c4dfc41179de2d728890e8a2">00121</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a79a7d8e1c4dfc41179de2d728890e8a2" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">ompl::control::CompoundControlSampler::sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target)
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(control)->components;
<a name="l00124"></a>00124 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i)
<a name="l00125"></a>00125 samplers_[i]->sampleTo(comps[i], source, target);
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127
<a name="l00128"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#ac6a55ad76717944561e500a1d44cb879">00128</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a79a7d8e1c4dfc41179de2d728890e8a2" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">ompl::control::CompoundControlSampler::sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *previous,
<a name="l00129"></a>00129 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target)
<a name="l00130"></a>00130 {
<a name="l00131"></a>00131 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(control)->components;
<a name="l00132"></a>00132 <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">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" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(previous)->components;
<a name="l00133"></a>00133 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i)
<a name="l00134"></a>00134 samplers_[i]->sampleTo(comps[i], prev[i], source, target);
<a name="l00135"></a>00135 }
<a name="l00136"></a>00136
<a name="l00137"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a823da7ae5d940288d0daef39e5c2623d">00137</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a79a7d8e1c4dfc41179de2d728890e8a2" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">ompl::control::CompoundControlSampler::sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps,
<a name="l00138"></a>00138 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target)
<a name="l00139"></a>00139 {
<a name="l00140"></a>00140 <span class="comment">// find the control for each component, and the duration of the compound control is the minimum of durations of the components</span>
<a name="l00141"></a>00141 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(control)->components;
<a name="l00142"></a>00142 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sc = 0;
<a name="l00143"></a>00143 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i)
<a name="l00144"></a>00144 {
<a name="l00145"></a>00145 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> c = samplers_[i]->sampleTo(comps[i], minSteps, maxSteps, source, target);
<a name="l00146"></a>00146 <span class="keywordflow">if</span> (i == 0 || sc > c)
<a name="l00147"></a>00147 sc = c;
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149 <span class="keywordflow">return</span> sc;
<a name="l00150"></a>00150 }
<a name="l00151"></a>00151
<a name="l00152"></a><a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a286b62e74049f558b8d397e6709039e2">00152</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a79a7d8e1c4dfc41179de2d728890e8a2" title="Sample a control given that it will be applied to state state and the intention is to reach state tar...">ompl::control::CompoundControlSampler::sampleTo</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps,
<a name="l00153"></a>00153 <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *previous, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *source, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *target)
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155 <span class="comment">// find the control for each component, and the duration of the compound control is the minimum of durations of the components</span>
<a name="l00156"></a>00156 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> **comps = <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1CompoundControl.html" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(control)->components;
<a name="l00157"></a>00157 <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">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" title="Definition of a compound control.">CompoundControl</a>*<span class="keyword">></span>(previous)->components;
<a name="l00158"></a>00158 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> sc = 0;
<a name="l00159"></a>00159 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < samplerCount_ ; ++i)
<a name="l00160"></a>00160 {
<a name="l00161"></a>00161 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> c = samplers_[i]->sampleTo(comps[i], minSteps, maxSteps, prev[i], source, target);
<a name="l00162"></a>00162 <span class="keywordflow">if</span> (i == 0 || sc > c)
<a name="l00163"></a>00163 sc = c;
<a name="l00164"></a>00164 }
<a name="l00165"></a>00165 <span class="keywordflow">return</span> sc;
<a name="l00166"></a>00166 }
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