ompl::control::OpenDEControlSpace Class Reference
Representation of controls applied in OpenDE environments. This is an array of double values. More...
#include <ompl/extensions/ode/OpenDEControlSpace.h>
Inheritance diagram for ompl::control::OpenDEControlSpace:
Public Member Functions | |
| OpenDEControlSpace (const base::StateSpacePtr &stateSpace) | |
| Construct a representation of controls passed to OpenDE. If stateSpace does not cast to an OpenDEStateSpace, an exception is thrown. | |
| const OpenDEEnvironmentPtr & | getEnvironment () const |
| Get the OpenDE environment this state space corresponds to. | |
 Public Member Functions inherited from ompl::control::RealVectorControlSpace | |
| 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::RealVectorBounds & | getBounds () 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. | |
| Control * | allocControl () 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 | |
| ControlSpace & | operator= (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 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. | |
Additional Inherited Members | |
| Public Types inherited from ompl::control::ControlSpace | |
| using | ControlType = ompl::control::Control |
| Define the type of control allocated by this control space. | |
| Protected Attributes inherited from ompl::control::RealVectorControlSpace | |
| 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
Representation of controls applied in OpenDE environments. This is an array of double values.
Definition at line 113 of file OpenDEControlSpace.h.
The documentation for this class was generated from the following files:
- ompl/extensions/ode/OpenDEControlSpace.h
- ompl/extensions/ode/src/OpenDEControlSpace.cpp