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  {
50  {
51  public:
54  {
55  }
56 
57  void sample(Control *control) override;
58  };
59 
62  {
63  public:
65  class ControlType : public Control
66  {
67  public:
70  double operator[](unsigned int i) const
71  {
72  return values[i];
73  }
74 
77  double &operator[](unsigned int i)
78  {
79  return values[i];
80  }
81 
83  double *values;
84  };
85 
88  RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim)
89  : ControlSpace(stateSpace), dimension_(dim), bounds_(dim), controlBytes_(dim * sizeof(double))
90  {
91  setName("RealVector" + getName());
93  }
94 
95  ~RealVectorControlSpace() override = default;
96 
98  void setBounds(const base::RealVectorBounds &bounds);
99 
102  {
103  return bounds_;
104  }
105 
106  unsigned int getDimension() const override;
107 
108  void copyControl(Control *destination, const Control *source) const override;
109 
110  bool equalControls(const Control *control1, const Control *control2) const override;
111 
113 
114  Control *allocControl() const override;
115 
116  void freeControl(Control *control) const override;
117 
118  void nullControl(Control *control) const override;
119 
120  void printControl(const Control *control, std::ostream &out) const override;
121 
122  double *getValueAddressAtIndex(Control *control, unsigned int index) const override;
123 
124  void printSettings(std::ostream &out) const override;
125 
126  void setup() override;
127 
129  unsigned int getSerializationLength() const override;
130 
132  void serialize(void *serialization, const Control *ctrl) const override;
133 
135  void deserialize(Control *ctrl, const void *serialization) const override;
136 
137  protected:
139  unsigned int dimension_;
140 
143 
144  private:
145  std::size_t controlBytes_;
146  };
147  }
148 }
149 
150 #endif
Control * allocControl() const override
Allocate memory for a control.
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
void deserialize(Control *ctrl, const void *serialization) const override
Deserializes a control from the serialization buffer.
ompl::control::RealVectorControlSpace
void printControl(const Control *control, std::ostream &out) const override
Print a control to a stream.
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:47
void copyControl(Control *destination, const Control *source) const override
Copy a control to another.
A shared pointer wrapper for ompl::base::StateSpace.
A shared pointer wrapper for ompl::control::ControlSampler.
const base::RealVectorBounds & getBounds() const
Get the bounds (min max values for each dimension) for the control.
void setName(const std::string &name)
Set the name of the control space.
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
unsigned int dimension_
The dimension of the state space.
double * getValueAddressAtIndex(Control *control, unsigned int index) const override
Many controls contain a number of double values. This function provides a means to get the memory add...
A control space representing Rn.
int type_
A type assigned for this control space.
Definition: ControlSpace.h:184
A control space representing the space of applicable controls.
Definition: ControlSpace.h:63
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation.
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
void serialize(void *serialization, const Control *ctrl) const override
Serializes the given control into the serialization buffer.
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.
unsigned int getDimension() const override
Get the dimension of this control space.
unsigned int getSerializationLength() const override
Returns the serialization size for a single control in this space.
void nullControl(Control *control) const override
Make the control have no effect if it were to be applied to a state for any amount of time...
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.
base::RealVectorBounds bounds_
The bounds on controls.
void printSettings(std::ostream &out) const override
Print the settings for this control space to a stream.
ControlSamplerPtr allocDefaultControlSampler() const override
Allocate the default control sampler.
void freeControl(Control *control) const override
Free the memory of a control.
const std::string & getName() const
Get the name of the control space.
bool equalControls(const Control *control1, const Control *control2) const override
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.
double * values
An array of length n, representing the value of the control.