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
unsigned int getSerializationLength() const override
Returns the serialization size for a single control in this space.
ControlSamplerPtr allocDefaultControlSampler() const override
Allocate the default control sampler.
void copyControl(Control *destination, const Control *source) const override
Copy a control to another.
Control * allocControl() const override
Allocate memory for a control.
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.
bool equalControls(const Control *control1, const Control *control2) const override
Check if two controls are the same.
Definition of an abstract control.
Definition: Control.h:48
unsigned int dimension_
The dimension of the state 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...
const std::string & getName() const
Get the name of the control space.
Uniform sampler for the Rn state space.
void setName(const std::string &name)
Set the name of the control 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 the space of applicable controls.
Definition: ControlSpace.h:64
int type_
A type assigned for this control space.
Definition: ControlSpace.h:184
double & operator[](unsigned int i)
Access element i of values. This does not check whether the index is within bounds.
void freeControl(Control *control) const override
Free the memory of a control.
A shared pointer wrapper for ompl::control::ControlSampler.
void printSettings(std::ostream &out) const override
Print the settings for this control space to a stream.
base::RealVectorBounds bounds_
The bounds on controls.
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
void serialize(void *serialization, const Control *ctrl) const override
Serializes the given control into the serialization buffer.
void deserialize(Control *ctrl, const void *serialization) const override
Deserializes a control from the serialization buffer.
A control space representing Rn.
@ CONTROL_SPACE_REAL_VECTOR
ompl::control::RealVectorControlSpace
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.
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
unsigned int getDimension() const override
Get the dimension of this control space.
RealVectorControlUniformSampler(const ControlSpace *space)
Constructor.
void setup() override
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.
double operator[](unsigned int i) const
Access element i of values. This does not check whether the index is within bounds.
void printControl(const Control *control, std::ostream &out) const override
Print a control to a stream.
const base::RealVectorBounds & getBounds() const
Get the bounds (min max values for each dimension) for the control.
Main namespace. Contains everything in this library.
Definition: AppBase.h:22
The lower and upper bounds for an Rn space.