RealVectorControlSpace.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
#define OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_

#include "ompl/control/ControlSpace.h"
#include "ompl/base/spaces/RealVectorBounds.h"
#include <vector>

namespace ompl
{
    namespace control
    {
        class RealVectorControlUniformSampler : public ControlSampler
        {
        public:
            RealVectorControlUniformSampler(const ControlSpace *space) : ControlSampler(space)
            {
            }

            void sample(Control *control) override;
        };

        class RealVectorControlSpace : public ControlSpace
        {
        public:
            class ControlType : public Control
            {
            public:
                double operator[](unsigned int i) const
                {
                    return values[i];
                }

                double &operator[](unsigned int i)
                {
                    return values[i];
                }

                double *values;
            };

            RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim)
              : ControlSpace(stateSpace), dimension_(dim), bounds_(dim), controlBytes_(dim * sizeof(double))
            {
                setName("RealVector" + getName());
                type_ = CONTROL_SPACE_REAL_VECTOR;
            }

            ~RealVectorControlSpace() override = default;

            void setBounds(const base::RealVectorBounds &bounds);

            const base::RealVectorBounds &getBounds() const
            {
                return bounds_;
            }

            unsigned int getDimension() const override;

            void copyControl(Control *destination, const Control *source) const override;

            bool equalControls(const Control *control1, const Control *control2) const override;

            ControlSamplerPtr allocDefaultControlSampler() const override;

            Control *allocControl() const override;

            void freeControl(Control *control) const override;

            void nullControl(Control *control) const override;

            void printControl(const Control *control, std::ostream &out) const override;

            double *getValueAddressAtIndex(Control *control, unsigned int index) const override;

            void printSettings(std::ostream &out) const override;

            void setup() override;

            unsigned int getSerializationLength() const override;

            void serialize(void *serialization, const Control *ctrl) const override;

            void deserialize(Control *ctrl, const void *serialization) const override;

        protected:
            unsigned int dimension_;

            base::RealVectorBounds bounds_;

        private:
            std::size_t controlBytes_;
        };
    }
}

#endif