ompl::control::RealVectorControlSpace Class Reference

A control space representing Rn. More...

#include <ompl/control/spaces/RealVectorControlSpace.h>

Inheritance diagram for ompl::control::RealVectorControlSpace:

## Classes

class  ControlType
The definition of a control in Rn More...

## Public Member Functions

RealVectorControlSpace (const base::StateSpacePtr &stateSpace, unsigned int dim)
Constructor takes the state space the controls correspond to and the dimension of the space of controls, dim.

void setBounds (const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.

const base::RealVectorBoundsgetBounds () const
Get the bounds (min max values for each dimension) for the control.

unsigned int getDimension () const override
Get the dimension of this control space.

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

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

ControlSamplerPtr allocDefaultControlSampler () const override
Allocate the default control sampler.

ControlallocControl () const override
Allocate memory for a control.

void freeControl (Control *control) const override
Free the memory of a control.

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

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 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.

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

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

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

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.

Public Member Functions inherited from ompl::control::ControlSpace
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::StateSpacePtrgetStateSpace () const
Return the state space this control space depends on.

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)

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

unsigned int dimension_
The dimension of the state space.

base::RealVectorBounds bounds_
The bounds on controls.

Protected Attributes inherited from ompl::control::ControlSpace
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 Rn.

Definition at line 61 of file RealVectorControlSpace.h.

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