ompl::control::DiscreteControlSpace Class Reference
A space representing discrete controls; i.e. there are a small number of discrete controls the system can react to. Controls are represented as integers [lowerBound, upperBound], where lowerBound and upperBound are inclusive. More...
#include <ompl/control/spaces/DiscreteControlSpace.h>
Inheritance diagram for ompl::control::DiscreteControlSpace:
Classes | |
| class | ControlType |
| The definition of a discrete control. More... | |
Public Member Functions | |
| DiscreteControlSpace (const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound) | |
| Construct a discrete space in wich controls can take values in the set [lowerBound, upperBound]. | |
| 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 |
| This sets the control value to lowerBound_. | |
| void | printControl (const Control *control, std::ostream &out) 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. | |
| unsigned int | getControlCount () const |
| Returns the number of controls possible. | |
| int | getLowerBound () const |
| Returns the lowest possible control value. | |
| int | getUpperBound () const |
| Returns the highest possible control value. | |
| void | setBounds (int lowerBound, int upperBound) |
| Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound]. | |
| 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) | |
| 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 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 | 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. | |
Protected Attributes | |
| int | lowerBound_ |
| The lowest integer state. | |
| int | upperBound_ |
| The highest integer state. | |
| 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. | |
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. | |
Detailed Description
A space representing discrete controls; i.e. there are a small number of discrete controls the system can react to. Controls are represented as integers [lowerBound, upperBound], where lowerBound and upperBound are inclusive.
Definition at line 126 of file DiscreteControlSpace.h.
The documentation for this class was generated from the following files:
- ompl/control/spaces/DiscreteControlSpace.h
- ompl/control/spaces/src/DiscreteControlSpace.cpp