RealVectorControlSpace.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
#define OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
 
#include "ompl/control/ControlSpace.h"
#include "ompl/base/spaces/RealVectorBounds.h"
#include <vector>
 
namespace ompl
{
    namespace control
    {
        class RealVectorControlUniformSampler : public ControlSampler
        {
        public:
            RealVectorControlUniformSampler(const ControlSpace *space) : ControlSampler(space)
            {
            }
 
            void sample(Control *control) override;
        };
 
        class RealVectorControlSpace : public ControlSpace
        {
        public:
            class ControlType : public Control
            {
            public:
                double operator[](unsigned int i) const
                {
                    return values[i];
                }
 
                double &operator[](unsigned int i)
                {
                    return values[i];
                }
 
                double *values;
            };
 
            RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim)
              : ControlSpace(stateSpace), dimension_(dim), bounds_(dim), controlBytes_(dim * sizeof(double))
            {
                setName("RealVector" + getName());
                type_ = CONTROL_SPACE_REAL_VECTOR;
            }
 
            ~RealVectorControlSpace() override = default;
 
            void setBounds(const base::RealVectorBounds &bounds);
 
            const base::RealVectorBounds &getBounds() const
            {
                return bounds_;
            }
 
            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;
 
            double *getValueAddressAtIndex(Control *control, unsigned int index) const override;
 
            void printSettings(std::ostream &out) const override;
 
            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:
            unsigned int dimension_;
 
            base::RealVectorBounds bounds_;
 
        private:
            std::size_t controlBytes_;
        };
    }
}
 
#endif