DiscreteControlSpace.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_CONTROL_SPACES_DISCRETE_CONTROL_SPACE_
#define OMPL_CONTROL_SPACES_DISCRETE_CONTROL_SPACE_
 
#include "ompl/control/ControlSpace.h"
 
namespace ompl
{
    namespace control
    {
        class DiscreteControlSampler : public ControlSampler
        {
        public:
            DiscreteControlSampler(const ControlSpace *space) : ControlSampler(space)
            {
            }
 
            void sample(Control *control) override;
        };

        class DiscreteControlSpace : public ControlSpace
        {
        public:
            class ControlType : public Control
            {
            public:
                int value;
            };

            DiscreteControlSpace(const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound)
              : ControlSpace(stateSpace), lowerBound_(lowerBound), upperBound_(upperBound)
            {
                setName("Discrete" + getName());
                type_ = CONTROL_SPACE_DISCRETE;
            }
 
            ~DiscreteControlSpace() override = default;
 
            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;
 
            void printSettings(std::ostream &out) const override;

            unsigned int getControlCount() const
            {
                return upperBound_ - lowerBound_ + 1;
            }

            int getLowerBound() const
            {
                return lowerBound_;
            }

            int getUpperBound() const
            {
                return upperBound_;
            }

            void setBounds(int lowerBound, int upperBound)
            {
                lowerBound_ = lowerBound;
                upperBound_ = upperBound;
            }
 
            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:
            int lowerBound_;

            int upperBound_;
        };
    }  // namespace control
}  // namespace ompl
 
#endif