DiscreteControlSpace.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/control/spaces/DiscreteControlSpace.h"
38 #include "ompl/util/Exception.h"
39 
41 {
44 }
45 
47 {
48  return 1;
49 }
50 
51 void ompl::control::DiscreteControlSpace::copyControl(Control *destination, const Control *source) const
52 {
53  destination->as<ControlType>()->value = source->as<ControlType>()->value;
54 }
55 
56 bool ompl::control::DiscreteControlSpace::equalControls(const Control *control1, const Control *control2) const
57 {
58  return control1->as<ControlType>()->value == control2->as<ControlType>()->value;
59 }
60 
62 {
63  return std::make_shared<DiscreteControlSampler>(this);
64 }
65 
67 {
68  return new ControlType();
69 }
70 
72 {
73  delete static_cast<ControlType *>(control);
74 }
75 
77 {
78  control->as<ControlType>()->value = lowerBound_;
79 }
80 
81 void ompl::control::DiscreteControlSpace::printControl(const Control *control, std::ostream &out) const
82 {
83  out << "DiscreteControl [";
84  if (control)
85  out << control->as<ControlType>()->value;
86  else
87  out << "nullptr";
88  out << ']' << std::endl;
89 }
90 
92 {
93  out << "Discrete control space '" << getName() << "' with bounds [" << lowerBound_ << ", " << upperBound_ << "]"
94  << std::endl;
95 }
96 
98 {
99  if (lowerBound_ > upperBound_)
100  throw Exception("Lower bound cannot be larger than upper bound for a discrete space");
102 }
103 
105 {
106  return sizeof(int);
107 }
108 
109 void ompl::control::DiscreteControlSpace::serialize(void *serialization, const Control *ctrl) const
110 {
111  memcpy(serialization, &ctrl->as<ControlType>()->value, sizeof(int));
112 }
113 
114 void ompl::control::DiscreteControlSpace::deserialize(Control *ctrl, const void *serialization) const
115 {
116  memcpy(&ctrl->as<ControlType>()->value, serialization, sizeof(int));
117 }
unsigned int getDimension() const override
Get the dimension of this control space.
const T * as() const
Cast this instance to a desired type.
Definition: Control.h:64
bool equalControls(const Control *control1, const Control *control2) const override
Check if two controls are the same.
unsigned int getSerializationLength() const override
Returns the serialization size for a single control in this space.
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition of an abstract control.
Definition: Control.h:47
int getLowerBound() const
Returns the lowest possible control value.
A shared pointer wrapper for ompl::control::ControlSampler.
const ControlSpace * space_
The control space this sampler operates on.
void freeControl(Control *control) const override
Free the memory of a control.
A space representing discrete controls; i.e. there are a small number of discrete controls the system...
The definition of a discrete control.
void printSettings(std::ostream &out) const override
Print the settings for this control space to a stream.
Control * allocControl() const override
Allocate memory for a control.
void serialize(void *serialization, const Control *ctrl) const override
Serializes the given control into the serialization buffer.
void copyControl(Control *destination, const Control *source) const override
Copy a control to another.
int value
The current control - an int in range [lowerBound, upperBound].
T * as()
Cast this instance to a desired type.
Definition: ControlSpace.h:77
void nullControl(Control *control) const override
This sets the control value to lowerBound_.
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
void printControl(const Control *control, std::ostream &out) const override
Print a control to a stream.
ControlSamplerPtr allocDefaultControlSampler() const override
Allocate the default control sampler.
The exception type for ompl.
Definition: Exception.h:46
RNG rng_
Instance of random number generator.
void deserialize(Control *ctrl, const void *serialization) const override
Deserializes a control from the serialization buffer.
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation.
int uniformInt(int lower_bound, int upper_bound)
Generate a random integer within given bounds: [lower_bound, upper_bound].
Definition: RandomNumbers.h:81