.. _program_listing_file_src_ompl_control_SimpleDirectedControlSampler.h:

Program Listing for File SimpleDirectedControlSampler.h
=======================================================

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

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

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
   #define OMPL_CONTROL_SIMPLE_DIRECTED_CONTROL_SAMPLER_
   
   #include "ompl/control/DirectedControlSampler.h"
   #include "ompl/control/ControlSampler.h"
   
   namespace ompl
   {
       namespace control
       {
           class SimpleDirectedControlSampler : public DirectedControlSampler
           {
           public:
               SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k = 1);
   
               ~SimpleDirectedControlSampler() override;
   
               unsigned int getNumControlSamples() const
               {
                   return numControlSamples_;
               }
   
               void setNumControlSamples(unsigned int numSamples)
               {
                   numControlSamples_ = numSamples;
               }
   
               unsigned int sampleTo(Control *control, const base::State *source, base::State *dest) override;
   
               unsigned int sampleTo(Control *control, const Control *previous, const base::State *source,
                                     base::State *dest) override;
   
           protected:
               virtual unsigned int getBestControl(Control *control, const base::State *source, base::State *dest,
                                                   const Control *previous);
   
               ControlSamplerPtr cs_;
   
               unsigned int numControlSamples_;
           };
       }
   }
   
   #endif