RealVectorControlSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
38 #define OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
39 
40 #include "ompl/control/ControlSpace.h"
41 #include "ompl/base/spaces/RealVectorBounds.h"
42 #include <vector>
43 
44 namespace ompl
45 {
46  namespace control
47  {
48 
51  {
52  public:
53 
56  {
57  }
58 
59  virtual void sample(Control *control);
60  };
61 
64  {
65  public:
66 
68  class ControlType : public Control
69  {
70  public:
71 
74  double operator[](unsigned int i) const
75  {
76  return values[i];
77  }
78 
81  double& operator[](unsigned int i)
82  {
83  return values[i];
84  }
85 
87  double *values;
88  };
89 
91  RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim) :
92  ControlSpace(stateSpace), dimension_(dim), bounds_(dim), controlBytes_(dim * sizeof(double))
93  {
94  setName("RealVector" + getName());
96  }
97 
98  virtual ~RealVectorControlSpace()
99  {
100  }
101 
103  void setBounds(const base::RealVectorBounds &bounds);
104 
107  {
108  return bounds_;
109  }
110 
111  virtual unsigned int getDimension() const;
112 
113  virtual void copyControl(Control *destination, const Control *source) const;
114 
115  virtual bool equalControls(const Control *control1, const Control *control2) const;
116 
118 
119  virtual Control* allocControl() const;
120 
121  virtual void freeControl(Control *control) const;
122 
123  virtual void nullControl(Control *control) const;
124 
125  virtual void printControl(const Control *control, std::ostream &out) const;
126 
127  virtual double* getValueAddressAtIndex(Control *control, const unsigned int index) const;
128 
129  virtual void printSettings(std::ostream &out) const;
130 
131  virtual void setup();
132 
134  virtual unsigned int getSerializationLength() const;
135 
137  virtual void serialize(void *serialization, const Control *ctrl) const;
138 
140  virtual void deserialize(Control *ctrl, const void *serialization) const;
141 
142  protected:
143 
145  unsigned int dimension_;
146 
149 
150  private:
151  std::size_t controlBytes_;
152  };
153  }
154 }
155 
156 #endif
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
ompl::control::RealVectorControlSpace
const std::string & getName() const
Get the name of the control space.
RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim)
Constructor takes the state space the controls correspond to and the dimension of the space of contro...
Definition of an abstract control.
Definition: Control.h:48
A boost shared pointer wrapper for ompl::base::StateSpace.
A boost shared pointer wrapper for ompl::control::ControlSampler.
virtual unsigned int getSerializationLength() const
Returns the serialization size for a single control in this space.
virtual void serialize(void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.
void setName(const std::string &name)
Set the name of the control space.
virtual void printControl(const Control *control, std::ostream &out) const
Print a control to a stream.
virtual unsigned int getDimension() const
Get the dimension of this control space.
virtual double * getValueAddressAtIndex(Control *control, const unsigned int index) const
Many controls contain a number of double values. This function provides a means to get the memory add...
virtual void nullControl(Control *control) const
Make the control have no effect if it were to be applied to a state for any amount of time...
virtual void deserialize(Control *ctrl, const void *serialization) const
Deserializes a control from the serialization buffer.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
virtual void copyControl(Control *destination, const Control *source) const
Copy a control to another.
unsigned int dimension_
The dimension of the state space.
A control space representing Rn.
int type_
A type assigned for this control space.
Definition: ControlSpace.h:181
virtual ControlSamplerPtr allocDefaultControlSampler() const
Allocate the default control sampler.
virtual Control * allocControl() const
Allocate memory for a control.
A control space representing the space of applicable controls.
Definition: ControlSpace.h:66
virtual void freeControl(Control *control) const
Free the memory of a control.
virtual void printSettings(std::ostream &out) const
Print the settings for this control space to a stream.
RealVectorControlUniformSampler(const ControlSpace *space)
Constructor.
Uniform sampler for the Rn state space.
double & operator[](unsigned int i)
Access element i of values. This does not check whether the index is within bounds.
const base::RealVectorBounds & getBounds() const
Get the bounds (min max values for each dimension) for the control.
The lower and upper bounds for an Rn space.
double operator[](unsigned int i) const
Access element i of values. This does not check whether the index is within bounds.
virtual void sample(Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
base::RealVectorBounds bounds_
The bounds on controls.
virtual bool equalControls(const Control *control1, const Control *control2) const
Check if two controls are the same.
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
double * values
An array of length n, representing the value of the control.