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<div class="title">ControlSampler.h</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>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<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">#ifndef OMPL_CONTROL_CONTROL_SAMPLER_</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="preprocessor">#define OMPL_CONTROL_CONTROL_SAMPLER_</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"> 40</span> <span class="preprocessor">#include "ompl/base/State.h"</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="preprocessor">#include "ompl/control/Control.h"</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="preprocessor">#include "ompl/util/RandomNumbers.h"</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="preprocessor">#include "ompl/util/ClassForward.h"</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#include <functional></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> <span class="keyword">namespace </span><a class="code" href="namespaceompl.html">ompl</a></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>  <span class="keyword">namespace </span>control</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  {</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  OMPL_CLASS_FORWARD(ControlSpace);</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  </div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  OMPL_CLASS_FORWARD(ControlSampler);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keyword">class </span>ControlSampler</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  {</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">// non-copyable</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  ControlSampler(<span class="keyword">const</span> ControlSampler &) = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  ControlSampler &operator=(<span class="keyword">const</span> ControlSampler &) = <span class="keyword">delete</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  ControlSampler(<span class="keyword">const</span> ControlSpace *space) : <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a42eb7a87665ead1c77e3c986244bbcf7">space_</a>(space)</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  {</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  }</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>  <span class="keyword">virtual</span> ~ControlSampler() = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  </div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a7a03d0a64571c397ef6fa3646c002614">sample</a>(Control *control) = 0;</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a7a03d0a64571c397ef6fa3646c002614">sample</a>(Control *control, <span class="keyword">const</span> base::State *state);</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6">sampleNext</a>(Control *control, <span class="keyword">const</span> Control *previous);</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a0a57ad73f9db82b17d933cb504efdbf6">sampleNext</a>(Control *control, <span class="keyword">const</span> Control *previous, <span class="keyword">const</span> base::State *state);</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a17b7122806113cad38db04340eab10ef">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="l00117"></a><span class="lineno"> 117</span>  </div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <span class="keyword">const</span> ControlSpace *<a class="code" href="classompl_1_1control_1_1ControlSampler.html#a42eb7a87665ead1c77e3c986244bbcf7">space_</a>;</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  </div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  RNG <a class="code" href="classompl_1_1control_1_1ControlSampler.html#af00c73c0f92f0b8169945b557b1ca84a">rng_</a>;</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  };</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="keyword">class </span>CompoundControlSampler : <span class="keyword">public</span> ControlSampler</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  {</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="keyword">public</span>:</div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classompl_1_1control_1_1ControlSampler.html"> 132</a></span>  <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#ac54b1bec066cc5c008fa775862259b26">CompoundControlSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html">ControlSpace</a> *space) : <a class="code" href="classompl_1_1control_1_1ControlSampler.html">ControlSampler</a>(space)</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  {</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  }</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  </div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#ae9b0e5cd393eda207232bf6ca80ed06a">~CompoundControlSampler</a>() <span class="keyword">override</span> = <span class="keywordflow">default</span>;</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a52d2e68db2f9b1531de74a35ff9a7e8b">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="l00143"></a><span class="lineno"> 143</span>  </div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#aea72a800d40fde1ec2fd0f7245fe0dd1">sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html">Control</a> *control) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#aea72a800d40fde1ec2fd0f7245fe0dd1">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) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a44796668db2ea7ebced3c46449e19c77">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) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#a44796668db2ea7ebced3c46449e19c77">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, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html">base::State</a> *state) <span class="keyword">override</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  std::vector<ControlSamplerPtr> <a class="code" href="classompl_1_1control_1_1CompoundControlSampler.html#ab2ac5717ef0a8cfd0b2641496d9218e8">samplers_</a>;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keyword">private</span>:</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> samplerCount_;</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  };</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  <span class="keyword">using</span> <a class="code" href="namespaceompl_1_1control.html#afe1127695e8497f3c41d6666f4706611">ControlSamplerAllocator</a> = std::function<<a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html">ControlSamplerPtr</a>(<span class="keyword">const</span> ControlSpace *)>;</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  }</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span> }</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  </div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1control_1_1ControlSampler_html_af00c73c0f92f0b8169945b557b1ca84a"><div class="ttname"><a href="classompl_1_1control_1_1ControlSampler.html#af00c73c0f92f0b8169945b557b1ca84a">ompl::control::ControlSampler::rng_</a></div><div class="ttdeci">RNG rng_</div><div class="ttdoc">Instance of random number generator.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8h_source.html#l00187">ControlSampler.h:187</a></div></div>
<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="anamespaceompl_1_1control_html_afe1127695e8497f3c41d6666f4706611"><div class="ttname"><a href="namespaceompl_1_1control.html#afe1127695e8497f3c41d6666f4706611">ompl::control::ControlSamplerAllocator</a></div><div class="ttdeci">std::function< ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator</div><div class="ttdoc">Definition of a function that can allocate a control sampler.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8h_source.html#l00223">ControlSampler.h:223</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_ae9b0e5cd393eda207232bf6ca80ed06a"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSampler.html#ae9b0e5cd393eda207232bf6ca80ed06a">ompl::control::CompoundControlSampler::~CompoundControlSampler</a></div><div class="ttdeci">~CompoundControlSampler() override=default</div><div class="ttdoc">Destructor. This frees the added samplers as well.</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_1ControlSpace_html"><div class="ttname"><a href="classompl_1_1control_1_1ControlSpace.html">ompl::control::ControlSpace</a></div><div class="ttdoc">A control space representing the space of applicable controls.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSpace_8h_source.html#l00127">ControlSpace.h:127</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1CompoundControlSampler_html_ac54b1bec066cc5c008fa775862259b26"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSampler.html#ac54b1bec066cc5c008fa775862259b26">ompl::control::CompoundControlSampler::CompoundControlSampler</a></div><div class="ttdeci">CompoundControlSampler(const ControlSpace *space)</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8h_source.html#l00196">ControlSampler.h:196</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_ab2ac5717ef0a8cfd0b2641496d9218e8"><div class="ttname"><a href="classompl_1_1control_1_1CompoundControlSampler.html#ab2ac5717ef0a8cfd0b2641496d9218e8">ompl::control::CompoundControlSampler::samplers_</a></div><div class="ttdeci">std::vector< ControlSamplerPtr > samplers_</div><div class="ttdoc">The instances of samplers used for compound sampler.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8h_source.html#l00215">ControlSampler.h:215</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"><div class="ttname"><a href="classompl_1_1control_1_1ControlSampler.html">ompl::control::ControlSampler</a></div><div class="ttdoc">Abstract definition of a control sampler. Motion planners that need to sample controls will call func...</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8h_source.html#l00132">ControlSampler.h:132</a></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>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</a></div></div>
<div class="ttc" id="aclassompl_1_1control_1_1ControlSampler_html_a42eb7a87665ead1c77e3c986244bbcf7"><div class="ttname"><a href="classompl_1_1control_1_1ControlSampler.html#a42eb7a87665ead1c77e3c986244bbcf7">ompl::control::ControlSampler::space_</a></div><div class="ttdeci">const ControlSpace * space_</div><div class="ttdoc">The control space this sampler operates on.</div><div class="ttdef"><b>Definition:</b> <a href="ControlSampler_8h_source.html#l00184">ControlSampler.h:184</a></div></div>
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