.. _program_listing_file_src_ompl_control_ControlSampler.h:

Program Listing for File ControlSampler.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_control_ControlSampler.h>` (``src/ompl/control/ControlSampler.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_CONTROL_CONTROL_SAMPLER_
   #define OMPL_CONTROL_CONTROL_SAMPLER_
   
   #include "ompl/base/State.h"
   #include "ompl/control/Control.h"
   #include "ompl/util/RandomNumbers.h"
   #include "ompl/util/ClassForward.h"
   #include <vector>
   #include <functional>
   
   namespace ompl
   {
       namespace control
       {
           OMPL_CLASS_FORWARD(ControlSpace);
   
   
           OMPL_CLASS_FORWARD(ControlSampler);
   
           class ControlSampler
           {
           public:
               // non-copyable
               ControlSampler(const ControlSampler &) = delete;
               ControlSampler &operator=(const ControlSampler &) = delete;
   
               ControlSampler(const ControlSpace *space) : space_(space)
               {
               }
   
               virtual ~ControlSampler() = default;
   
               virtual void sample(Control *control) = 0;
   
               virtual void sample(Control *control, const base::State *state);
   
               virtual void sampleNext(Control *control, const Control *previous);
   
               virtual void sampleNext(Control *control, const Control *previous, const base::State *state);
   
               virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps);
   
           protected:
               const ControlSpace *space_;
   
               RNG rng_;
           };
   
           class CompoundControlSampler : public ControlSampler
           {
           public:
               CompoundControlSampler(const ControlSpace *space) : ControlSampler(space)
               {
               }
   
               ~CompoundControlSampler() override = default;
   
               virtual void addSampler(const ControlSamplerPtr &sampler);
   
               void sample(Control *control) override;
               void sample(Control *control, const base::State *state) override;
               void sampleNext(Control *control, const Control *previous) override;
               void sampleNext(Control *control, const Control *previous, const base::State *state) override;
   
           protected:
               std::vector<ControlSamplerPtr> samplers_;
   
           private:
               unsigned int samplerCount_;
           };
   
           using ControlSamplerAllocator = std::function<ControlSamplerPtr(const ControlSpace *)>;
       }
   }
   
   #endif