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<li class="navelem"><a class="el" href="namespaceompl.html">ompl</a> </li>
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<!-- doxytag: class="ompl::control::CompoundControlSampler" --><!-- doxytag: inherits="ompl::control::ControlSampler" -->
<p>Definition of a compound control sampler. This is useful to construct samplers for compound controls.
<a href="classompl_1_1control_1_1CompoundControlSampler.html#details">More...</a></p>
<p><code>#include <<a class="el" href="ControlSampler_8h_source.html">ControlSampler.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for ompl::control::CompoundControlSampler:</div>
<div class="dyncontent">
<div class="center"><img src="classompl_1_1control_1_1CompoundControlSampler__inherit__graph.png" border="0" usemap="#ompl_1_1control_1_1CompoundControlSampler_inherit__map" alt="Inheritance graph"/></div>
<map name="ompl_1_1control_1_1CompoundControlSampler_inherit__map" id="ompl_1_1control_1_1CompoundControlSampler_inherit__map">
<area shape="rect" id="node2" href="classompl_1_1control_1_1ControlSampler.html" title="Abstract definition of a control sampler. Motion planners that need to sample controls will call func..." alt="" coords="37,5,232,35"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="classompl_1_1control_1_1CompoundControlSampler-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac54b1bec066cc5c008fa775862259b26"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::CompoundControlSampler" ref="ac54b1bec066cc5c008fa775862259b26" args="(const ControlSpace *space)" -->
 </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#ac54b1bec066cc5c008fa775862259b26">CompoundControlSampler</a> (const <a class="el" href="classompl_1_1control_1_1ControlSpace.html">ControlSpace</a> *space)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05f5cb008f8a6726c15eafaab43be96c"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::~CompoundControlSampler" ref="a05f5cb008f8a6726c15eafaab43be96c" args="(void)" -->
virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#a05f5cb008f8a6726c15eafaab43be96c">~CompoundControlSampler</a> (void)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Destructor. This frees the added samplers as well. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a52d2e68db2f9b1531de74a35ff9a7e8b"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::addSampler" ref="a52d2e68db2f9b1531de74a35ff9a7e8b" args="(const ControlSamplerPtr &sampler)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#a52d2e68db2f9b1531de74a35ff9a7e8b">addSampler</a> (const <a class="el" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> &sampler)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Add a sampler as part of the new compound sampler. This sampler is used to sample part of the compound control. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6314112308482364122c771c7456fcaf"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::sample" ref="a6314112308482364122c771c7456fcaf" args="(Control *control)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#a6314112308482364122c771c7456fcaf">sample</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a control. All other control sampling functions default to this one, unless a user-specified implementation is given. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af0c643e31087483d3f1bdd5ca25bdd86"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::sample" ref="af0c643e31087483d3f1bdd5ca25bdd86" args="(Control *control, const base::State *state)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#af0c643e31087483d3f1bdd5ca25bdd86">sample</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *state)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a control, given it is applied to a specific state (<em>state</em>). The default implementation calls the previous definition of <a class="el" 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...">sample()</a>. Providing a different implementation of this function is useful if, for example, the sampling of controls depends on the state of the system. When attempting to sample controls that keep a system stable, for example, knowing the state at which the control is applied is important. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0d33f40da510aad59525e4717e69c509"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::sampleNext" ref="a0d33f40da510aad59525e4717e69c509" args="(Control *control, const Control *previous)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#a0d33f40da510aad59525e4717e69c509">sampleNext</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *previous)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a control, given the previously applied control. The default implementation calls the first definition of <a class="el" 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...">sample()</a>. For some systems it is possible that large changes in controls are not desirable. For example, switching from maximum acceleration to maximum deceleration is not desirable when driving a car. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad94fe6ad00a8e302bf9952c25de54ba3"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::sampleNext" ref="ad94fe6ad00a8e302bf9952c25de54ba3" args="(Control *control, const Control *previous, const base::State *state)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#ad94fe6ad00a8e302bf9952c25de54ba3">sampleNext</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *previous, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *state)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a control, given the previously applied control and that it is applied to a specific state. The default implementation calls the first definition of <a class="el" 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...">sample()</a>, even if other implementations of the <a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#a0d33f40da510aad59525e4717e69c509" title="Sample a control, given the previously applied control. The default implementation calls the first de...">sampleNext()</a> shown above are provided. Often this function needs to be overridden as it is the function planners typically call. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a79a7d8e1c4dfc41179de2d728890e8a2"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::sampleTo" ref="a79a7d8e1c4dfc41179de2d728890e8a2" args="(Control *control, const base::State *source, const base::State *target)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#a79a7d8e1c4dfc41179de2d728890e8a2">sampleTo</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *source, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *target)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a control given that it will be applied to state <em>state</em> and the intention is to reach state <em>target</em>. This is useful for some algorithms that have a notion of direction in their exploration (e.g., ). By default, this function calls the first definition of <a class="el" 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...">sample()</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac6a55ad76717944561e500a1d44cb879"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::sampleTo" ref="ac6a55ad76717944561e500a1d44cb879" args="(Control *control, const Control *previous, const base::State *source, const base::State *target)" -->
virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#ac6a55ad76717944561e500a1d44cb879">sampleTo</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *previous, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *source, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *target)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a control given that it will be applied to state <em>state</em> and the intention is to reach state <em>target</em>. Also take into account the fact that the previously applied control is <em>previous</em>. This is useful for some algorithms that have a notion of direction in their exploration (e.g., ). By default, this function calls the first definition of <a class="el" 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...">sample()</a>. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a823da7ae5d940288d0daef39e5c2623d"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::sampleTo" ref="a823da7ae5d940288d0daef39e5c2623d" args="(Control *control, unsigned int minSteps, unsigned int maxSteps, const base::State *source, const base::State *target)" -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#a823da7ae5d940288d0daef39e5c2623d">sampleTo</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, unsigned int minSteps, unsigned int maxSteps, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *source, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *target)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a control given that it will be applied to state <em>state</em> and the intention is to reach state <em>target</em>. This is useful for some algorithms that have a notion of direction in their exploration (e.g., ). Furthermore, return the duration for which this control should be applied. By default, this function calls the first definition of <a class="el" 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...">sample()</a> and returns the value of sampleStepCount(<em>minSteps</em>, <em>maxSteps</em>). <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a286b62e74049f558b8d397e6709039e2"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::sampleTo" ref="a286b62e74049f558b8d397e6709039e2" args="(Control *control, unsigned int minSteps, unsigned int maxSteps, const Control *previous, const base::State *source, const base::State *target)" -->
virtual unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#a286b62e74049f558b8d397e6709039e2">sampleTo</a> (<a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *control, unsigned int minSteps, unsigned int maxSteps, const <a class="el" href="classompl_1_1control_1_1Control.html">Control</a> *previous, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *source, const <a class="el" href="classompl_1_1base_1_1State.html">base::State</a> *target)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sample a control given that it will be applied to state <em>state</em> and the intention is to reach state <em>target</em>. Also take into account the fact that the previously applied control is <em>previous</em>. This is useful for some algorithms that have a notion of direction in their exploration (e.g., ). Furthermore, return the duration for which this control should be applied. By default, this function calls the first definition of <a class="el" 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...">sample()</a> and returns the value of sampleStepCount(<em>minSteps</em>, <em>maxSteps</em>). <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ab2ac5717ef0a8cfd0b2641496d9218e8"></a><!-- doxytag: member="ompl::control::CompoundControlSampler::samplers_" ref="ab2ac5717ef0a8cfd0b2641496d9218e8" args="" -->
std::vector< <a class="el" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classompl_1_1control_1_1CompoundControlSampler.html#ab2ac5717ef0a8cfd0b2641496d9218e8">samplers_</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The instances of samplers used for compound sampler. <br/></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Definition of a compound control sampler. This is useful to construct samplers for compound controls. </p>
<p>Definition at line <a class="el" href="ControlSampler_8h_source.html#l00165">165</a> of file <a class="el" href="ControlSampler_8h_source.html">ControlSampler.h</a>.</p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li>src/ompl/control/<a class="el" href="ControlSampler_8h_source.html">ControlSampler.h</a></li>
<li>src/ompl/control/src/<a class="el" href="ControlSampler_8cpp_source.html">ControlSampler.cpp</a></li>
</ul>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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