/usr/include/ompl/control/SteeredControlSampler.h is in libompl-dev 1.2.1+ds1-1build1.
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/* Author: Mark Moll, Ioan Sucan */
#ifndef OMPL_CONTROL_STEERED_CONTROL_SAMPLER_
#define OMPL_CONTROL_STEERED_CONTROL_SAMPLER_
#include "ompl/control/DirectedControlSampler.h"
#include "ompl/control/StatePropagator.h"
#include "ompl/control/SpaceInformation.h"
#include <cmath>
namespace ompl
{
namespace control
{
/** \brief Abstract definition of a steered control sampler. It uses the
steering function in a state propagator to find the controls that
drive from one state to another. */
class SteeredControlSampler : public DirectedControlSampler
{
public:
/** \brief Constructor takes the state space to construct samples for as argument */
SteeredControlSampler(const SpaceInformation *si) : DirectedControlSampler(si)
{
}
virtual ~SteeredControlSampler()
{
}
virtual unsigned int sampleTo(Control *control, const base::State *source, base::State *dest)
{
double duration;
if (!si_->getStatePropagator()->steer(source, dest, control, duration)) return 0;
unsigned int steps = std::floor(duration / si_->getPropagationStepSize() + 0.5);
return si_->propagateWhileValid(source, control, steps, dest);
}
virtual unsigned int sampleTo(Control *control, const Control *previous, const base::State *source, base::State *dest)
{
return sampleTo(control, source, dest);
}
};
}
}
#endif
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