DiscreteControlSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_SPACES_DISCRETE_CONTROL_SPACE_
38 #define OMPL_CONTROL_SPACES_DISCRETE_CONTROL_SPACE_
39 
40 #include "ompl/control/ControlSpace.h"
41 
42 namespace ompl
43 {
44  namespace control
45  {
48  {
49  public:
52  {
53  }
54 
55  void sample(Control *control) override;
56  };
57 
63  {
64  public:
66  class ControlType : public Control
67  {
68  public:
70  int value;
71  };
72 
75  DiscreteControlSpace(const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound)
76  : ControlSpace(stateSpace), lowerBound_(lowerBound), upperBound_(upperBound)
77  {
78  setName("Discrete" + getName());
79  type_ = CONTROL_SPACE_DISCRETE;
80  }
81 
82  ~DiscreteControlSpace() override = default;
83 
84  unsigned int getDimension() const override;
85 
86  void copyControl(Control *destination, const Control *source) const override;
87 
88  bool equalControls(const Control *control1, const Control *control2) const override;
89 
90  ControlSamplerPtr allocDefaultControlSampler() const override;
91 
92  Control *allocControl() const override;
93 
94  void freeControl(Control *control) const override;
95 
97  void nullControl(Control *control) const override;
98 
99  void printControl(const Control *control, std::ostream &out) const override;
100 
101  void printSettings(std::ostream &out) const override;
102 
104  unsigned int getControlCount() const
105  {
106  return upperBound_ - lowerBound_ + 1;
107  }
108 
110  int getLowerBound() const
111  {
112  return lowerBound_;
113  }
114 
116  int getUpperBound() const
117  {
118  return upperBound_;
119  }
120 
123  void setBounds(int lowerBound, int upperBound)
124  {
125  lowerBound_ = lowerBound;
126  upperBound_ = upperBound;
127  }
128 
129  void setup() override;
130 
132  unsigned int getSerializationLength() const override;
133 
135  void serialize(void *serialization, const Control *ctrl) const override;
136 
138  void deserialize(Control *ctrl, const void *serialization) const override;
139 
140  protected:
143 
146  };
147  }
148 }
149 
150 #endif
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
int getUpperBound() const
Returns the highest possible control value.
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::base::StateSpace.
A shared pointer wrapper for ompl::control::ControlSampler.
A space representing discrete controls; i.e. there are a small number of discrete controls the system...
DiscreteControlSpace(const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound)
Construct a discrete space in wich controls can take values in the set [lowerBound, upperBound].
The definition of a discrete control.
int upperBound_
The highest integer state.
unsigned int getControlCount() const
Returns the number of controls possible.
int value
The current control - an int in range [lowerBound, upperBound].
ompl::control::DiscreteControlSpace
Control space sampler for discrete controls.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
A control space representing the space of applicable controls.
Definition: ControlSpace.h:63
int lowerBound_
The lowest integer state.
DiscreteControlSampler(const ControlSpace *space)
Constructor.
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].