ompl::control::CompoundControlSpace Class Reference
A control space to allow the composition of control spaces. More...
#include <ompl/control/ControlSpace.h>
Inheritance diagram for ompl::control::CompoundControlSpace:
Public Types | |
| using | ControlType = ompl::control::CompoundControl |
| Define the type of control allocated by this control space. | |
 Public Types inherited from ompl::control::ControlSpace | |
| using | ControlType = ompl::control::Control |
| Define the type of control allocated by this control space. | |
Public Member Functions | |
| CompoundControlSpace (const base::StateSpacePtr &stateSpace) | |
| Constructor. The corresponding state space needs to be specified. | |
| template<class T > | |
| T * | as (const unsigned int index) const |
| Cast a component of this instance to a desired type. More... | |
| virtual void | addSubspace (const ControlSpacePtr &component) |
| Adds a control space as a component of the compound control space. | |
| unsigned int | getSubspaceCount () const |
| Get the number of control spaces that make up the compound control space. | |
| const ControlSpacePtr & | getSubspace (unsigned int index) const |
| Get a specific subspace from the compound control space. | |
| const ControlSpacePtr & | getSubspace (const std::string &name) const |
| Get a specific subspace from the compound control space. | |
| unsigned int | getDimension () const override |
| Get the dimension of this control space. | |
| Control * | allocControl () const override |
| Allocate memory for a control. | |
| void | freeControl (Control *control) const override |
| Free the memory of a control. | |
| 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. | |
| 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. | |
| ControlSamplerPtr | allocDefaultControlSampler () const override |
| Allocate the default control sampler. | |
| 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 | printControl (const Control *control, std::ostream &out=std::cout) const override |
| Print a control to a stream. | |
| 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. | |
| bool | isCompound () const override |
| Check if the control space is compound. | |
| void | lock () |
| Lock this control space. This means no further control spaces can be added as components. This function can be for instance called from the constructor of a state space that inherits from CompoundControlSpace to prevent the user to add further components. | |
| 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. | |
Protected Attributes | |
| std::vector< ControlSpacePtr > | components_ |
| The component control spaces that make up the compound control space. | |
| unsigned int | componentCount_ |
| The number of contained components. | |
| bool | locked_ |
| Flag indicating whether adding further components is allowed or not. | |
| 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 to allow the composition of control spaces.
Definition at line 265 of file ControlSpace.h.
Member Function Documentation
◆ as()
template<class T >
|
inline |
Cast a component of this instance to a desired type.
Make sure the type we are casting to is indeed a control space
Definition at line 281 of file ControlSpace.h.
The documentation for this class was generated from the following files:
- ompl/control/ControlSpace.h
- ompl/control/src/ControlSpace.cpp