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ControlSampler.cpp
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96 lines (85 loc) · 3.91 KB
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Rice University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Rice University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#include "ompl/control/ControlSampler.h"
#include "ompl/control/ControlSpace.h"
void ompl::control::ControlSampler::sample(Control *control, const base::State * /* state */)
{
sample(control);
}
void ompl::control::ControlSampler::sampleNext(Control *control, const Control * /* previous */)
{
sample(control);
}
void ompl::control::ControlSampler::sampleNext(Control *control, const Control * /* previous */,
const base::State * /* state */)
{
sample(control);
}
unsigned int ompl::control::ControlSampler::sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
{
return rng_.uniformInt(minSteps, maxSteps);
}
void ompl::control::CompoundControlSampler::addSampler(const ControlSamplerPtr &sampler)
{
samplers_.push_back(sampler);
samplerCount_ = samplers_.size();
}
void ompl::control::CompoundControlSampler::sample(Control *control)
{
Control **comps = static_cast<CompoundControl *>(control)->components;
for (unsigned int i = 0; i < samplerCount_; ++i)
samplers_[i]->sample(comps[i]);
}
void ompl::control::CompoundControlSampler::sample(Control *control, const base::State *state)
{
Control **comps = static_cast<CompoundControl *>(control)->components;
for (unsigned int i = 0; i < samplerCount_; ++i)
samplers_[i]->sample(comps[i], state);
}
void ompl::control::CompoundControlSampler::sampleNext(Control *control, const Control *previous)
{
Control **comps = static_cast<CompoundControl *>(control)->components;
const Control *const *prev = static_cast<const CompoundControl *>(previous)->components;
for (unsigned int i = 0; i < samplerCount_; ++i)
samplers_[i]->sampleNext(comps[i], prev[i]);
}
void ompl::control::CompoundControlSampler::sampleNext(Control *control, const Control *previous,
const base::State *state)
{
Control **comps = static_cast<CompoundControl *>(control)->components;
const Control *const *prev = static_cast<const CompoundControl *>(previous)->components;
for (unsigned int i = 0; i < samplerCount_; ++i)
samplers_[i]->sampleNext(comps[i], prev[i], state);
}