ControlSpace.cpp
47 static void computeControlSpaceSignatureHelper(const ControlSpace *space, std::vector<int> &signature)
64 ompl::control::ControlSpace::ControlSpace(base::StateSpacePtr stateSpace) : stateSpace_(std::move(stateSpace))
103 double *ompl::control::ControlSpace::getValueAddressAtIndex(Control * /*control*/, const unsigned int /*index*/) const
123 void ompl::control::ControlSpace::serialize(void * /*serialization*/, const Control * /*ctrl*/) const
127 void ompl::control::ControlSpace::deserialize(Control * /*ctrl*/, const void * /*serialization*/) const
157 const ompl::control::ControlSpacePtr &ompl::control::CompoundControlSpace::getSubspace(const unsigned int index) const
164 const ompl::control::ControlSpacePtr &ompl::control::CompoundControlSpace::getSubspace(const std::string &name) const
198 void ompl::control::CompoundControlSpace::copyControl(Control *destination, const Control *source) const
206 bool ompl::control::CompoundControlSpace::equalControls(const Control *control1, const Control *control2) const
223 ompl::control::ControlSamplerPtr ompl::control::CompoundControlSpace::allocDefaultControlSampler() const
236 double *ompl::control::CompoundControlSpace::getValueAddressAtIndex(Control *control, const unsigned int index) const
257 void ompl::control::CompoundControlSpace::printControl(const Control *control, std::ostream &out) const
289 void ompl::control::CompoundControlSpace::serialize(void *serialization, const Control *ctrl) const
295 components_[i]->serialize(reinterpret_cast<char *>(serialization) + l, compctrl->components[i]);
300 void ompl::control::CompoundControlSpace::deserialize(Control *ctrl, const void *serialization) const
virtual bool isCompound() const
Check if the control space is compound.
Definition: ControlSpace.cpp:138
unsigned int getSubspaceCount() const
Get the number of control spaces that make up the compound control space.
Definition: ControlSpace.cpp:152
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation.
Definition: ControlSpace.cpp:274
std::function< ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator
Definition of a function that can allocate a control sampler.
Definition: ControlSampler.h:223
bool isCompound() const override
Check if the control space is compound.
Definition: ControlSpace.cpp:311
const std::string & getName() const
Get the name of the control space.
Definition: ControlSpace.cpp:72
A shared pointer wrapper for ompl::control::ControlSpace.
const ControlSpacePtr & getSubspace(unsigned int index) const
Get a specific subspace from the compound control space.
Definition: ControlSpace.cpp:157
void lock()
Lock this control space. This means no further control spaces can be added as components....
Definition: ControlSpace.cpp:231
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 add...
Definition: ControlSpace.cpp:103
unsigned int getDimension() const override
Get the dimension of this control space.
Definition: ControlSpace.cpp:172
void setName(const std::string &name)
Set the name of the control space.
Definition: ControlSpace.cpp:77
void setControlSamplerAllocator(const ControlSamplerAllocator &csa)
Set the sampler allocator to use.
Definition: ControlSpace.cpp:93
void computeSignature(std::vector< int > &signature) const
Compute an array of ints that uniquely identifies the structure of the control space....
Definition: ControlSpace.cpp:131
void freeControl(Control *control) const override
Free the memory of a control.
Definition: ControlSpace.cpp:189
virtual ControlSamplerPtr allocControlSampler() const
Allocate an instance of the control sampler for this space. This sampler will be allocated with the s...
Definition: ControlSpace.cpp:86
void serialize(void *serialization, const Control *ctrl) const override
Serializes the given control into the serialization buffer.
Definition: ControlSpace.cpp:289
ControlSamplerPtr allocDefaultControlSampler() const override
Allocate the default control sampler.
Definition: ControlSpace.cpp:223
virtual void printSettings(std::ostream &out) const
Print the settings for this control space to a stream.
Definition: ControlSpace.cpp:113
void printControl(const Control *control, std::ostream &out=std::cout) const override
Print a control to a stream.
Definition: ControlSpace.cpp:257
void printSettings(std::ostream &out) const override
Print the settings for this control space to a stream.
Definition: ControlSpace.cpp:266
Control * allocControl() const override
Allocate memory for a control.
Definition: ControlSpace.cpp:180
void clearControlSamplerAllocator()
Clear the control sampler allocator (reset to default)
Definition: ControlSpace.cpp:98
virtual void printControl(const Control *control, std::ostream &out) const
Print a control to a stream.
Definition: ControlSpace.cpp:108
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
Definition: ControlSpace.cpp:82
virtual unsigned int getSerializationLength() const
Returns the serialization size for a single control in this space.
Definition: ControlSpace.cpp:118
void deserialize(Control *ctrl, const void *serialization) const override
Deserializes a control from the serialization buffer.
Definition: ControlSpace.cpp:300
virtual void addSubspace(const ControlSpacePtr &component)
Adds a control space as a component of the compound control space.
Definition: ControlSpace.cpp:143
base::StateSpacePtr stateSpace_
The state space controls can be applied to.
Definition: ControlSpace.h:254
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.
Definition: ControlSpace.cpp:216
A shared pointer wrapper for ompl::control::ControlSampler.
unsigned int getSerializationLength() const override
Returns the serialization size for a single control in this space.
Definition: ControlSpace.cpp:281
virtual void deserialize(Control *ctrl, const void *serialization) const
Deserializes a control from the serialization buffer.
Definition: ControlSpace.cpp:127
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...
Definition: ControlSpace.cpp:236
virtual void serialize(void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.
Definition: ControlSpace.cpp:123
void copyControl(Control *destination, const Control *source) const override
Copy a control to another.
Definition: ControlSpace.cpp:198
bool equalControls(const Control *control1, const Control *control2) const override
Check if two controls are the same.
Definition: ControlSpace.cpp:206