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RealVectorControlSpace.h
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34
35/* Author: Ioan Sucan */
36
37#ifndef OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
38#define OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
39
40#include "ompl/control/ControlSpace.h"
41#include "ompl/base/spaces/RealVectorBounds.h"
42#include <vector>
43
44namespace ompl
45{
46 namespace control
47 {
49 class RealVectorControlUniformSampler : public ControlSampler
50 {
51 public:
53 RealVectorControlUniformSampler(const ControlSpace *space) : ControlSampler(space)
54 {
55 }
56
57 void sample(Control *control) override;
58 };
59
61 class RealVectorControlSpace : public ControlSpace
62 {
63 public:
65 class ControlType : public Control
66 {
67 public:
70 double operator[](unsigned int i) const
71 {
72 return values[i];
73 }
74
77 double &operator[](unsigned int i)
78 {
79 return values[i];
80 }
81
83 double *values;
84 };
85
88 RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim)
89 : ControlSpace(stateSpace), dimension_(dim), bounds_(dim), controlBytes_(dim * sizeof(double))
90 {
91 setName("RealVector" + getName());
93 }
94
95 ~RealVectorControlSpace() override = default;
96
98 void setBounds(const base::RealVectorBounds &bounds);
99
102 {
103 return bounds_;
104 }
105
106 unsigned int getDimension() const override;
107
108 void copyControl(Control *destination, const Control *source) const override;
109
110 bool equalControls(const Control *control1, const Control *control2) const override;
111
113
114 Control *allocControl() const override;
115
116 void freeControl(Control *control) const override;
117
118 void nullControl(Control *control) const override;
119
120 void printControl(const Control *control, std::ostream &out) const override;
121
122 double *getValueAddressAtIndex(Control *control, unsigned int index) const override;
123
124 void printSettings(std::ostream &out) const override;
125
126 void setup() override;
127
129 unsigned int getSerializationLength() const override;
130
132 void serialize(void *serialization, const Control *ctrl) const override;
133
135 void deserialize(Control *ctrl, const void *serialization) const override;
136
137 protected:
139 unsigned int dimension_;
140
143
144 private:
145 std::size_t controlBytes_;
146 };
147 }
148}
149
150#endif
The lower and upper bounds for an Rn space.
A shared pointer wrapper for ompl::control::ControlSampler.
A control space representing the space of applicable controls.
int type_
A type assigned for this control space.
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.
Definition of an abstract control.
Definition Control.h:48
double operator[](unsigned int i) const
Access element i of values. This does not check whether the index is within bounds.
double & operator[](unsigned int i)
Access element i of values. This does not check whether the index is within bounds.
double * values
An array of length n, representing the value of the control.
A control space representing Rn.
RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim)
Constructor takes the state space the controls correspond to and the dimension of the space of contro...
void printSettings(std::ostream &out) const override
Print the settings for this control space to a stream.
void freeControl(Control *control) const override
Free the memory of a control.
unsigned int dimension_
The dimension of the state space.
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 add...
void printControl(const Control *control, std::ostream &out) const override
Print a control to a stream.
ControlSamplerPtr allocDefaultControlSampler() const override
Allocate the default control sampler.
base::RealVectorBounds bounds_
The bounds on controls.
Control * allocControl() const override
Allocate memory for a control.
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation.
void copyControl(Control *destination, const Control *source) const override
Copy a control to another.
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 deserialize(Control *ctrl, const void *serialization) const override
Deserializes a control from the serialization buffer.
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.
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.
RealVectorControlUniformSampler(const ControlSpace *space)
Constructor.
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
@ CONTROL_SPACE_REAL_VECTOR
ompl::control::RealVectorControlSpace
Main namespace. Contains everything in this library.