ompl::control::ControlSpace Class Referenceabstract

A control space representing the space of applicable controls. More...

#include <ompl/control/ControlSpace.h>

Inheritance diagram for ompl::control::ControlSpace:

Public Member Functions

ControlSpace (const ControlSpace &)=delete

ControlSpaceoperator= (const ControlSpace &)=delete

ControlSpace (base::StateSpacePtr stateSpace)
Construct a control space, given the state space.

template<class T >
T * as ()
Cast this instance to a desired type. More...

template<class T >
const T * as () const
Cast this instance to a desired type. More...

const std::string & getName () const
Get the name of the control space.

void setName (const std::string &name)
Set the name of the control space.

int getType () const
Get the type of the control space. The type can be used to verify whether two space instances are of the same type.

const base::StateSpacePtr & getStateSpace () const
Return the state space this control space depends on.

virtual unsigned int getDimension () const =0
Get the dimension of this control space.

virtual ControlallocControl () const =0
Allocate memory for a control.

virtual void freeControl (Control *control) const =0
Free the memory of a control.

virtual void copyControl (Control *destination, const Control *source) const =0
Copy a control to another.

virtual bool equalControls (const Control *control1, const Control *control2) const =0
Check if two controls are the same.

virtual void nullControl (Control *control) const =0
Make the control have no effect if it were to be applied to a state for any amount of time.

virtual ControlSamplerPtr allocDefaultControlSampler () const =0
Allocate the default control sampler.

virtual ControlSamplerPtr allocControlSampler () const
Allocate an instance of the control sampler for this space. This sampler will be allocated with the sampler allocator that was previously specified by setControlSamplerAllocator() or, if no sampler allocator was specified, allocDefaultControlSampler() is called.

void setControlSamplerAllocator (const ControlSamplerAllocator &csa)
Set the sampler allocator to use.

void clearControlSamplerAllocator ()
Clear the control sampler allocator (reset to default)

virtual double * getValueAddressAtIndex (Control *control, unsigned int index) const
Many controls contain a number of double values. This function provides a means to get the memory address of a double value from a control control located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the control), the return value is nullptr.

virtual void printControl (const Control *control, std::ostream &out) const
Print a control to a stream.

virtual void printSettings (std::ostream &out) const
Print the settings for this control space to a stream.

virtual void setup ()
Perform final setup steps. This function is automatically called by the SpaceInformation.

virtual unsigned int getSerializationLength () const
Returns the serialization size for a single control in this space.

virtual void serialize (void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.

virtual void deserialize (Control *ctrl, const void *serialization) const
Deserializes a control from the serialization buffer.

void computeSignature (std::vector< int > &signature) const
Compute an array of ints that uniquely identifies the structure of the control space. The first element of the signature is the number of integers that follow.

virtual bool isCompound () const
Check if the control space is compound.

Protected Attributes

int type_
A type assigned for this control space.

base::StateSpacePtr stateSpace_
The state space controls can be applied to.

ControlSamplerAllocator csa_
An optional control sampler allocator.

Detailed Description

A control space representing the space of applicable controls.

Definition at line 63 of file ControlSpace.h.

◆ as() [1/2]

template<class T >
 T* ompl::control::ControlSpace::as ( )
inline

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a control space

Definition at line 77 of file ControlSpace.h.

◆ as() [2/2]

template<class T >
 const T* ompl::control::ControlSpace::as ( ) const
inline

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a control space

Definition at line 87 of file ControlSpace.h.

The documentation for this class was generated from the following files: