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RealVectorControlSpace.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/control/spaces/RealVectorControlSpace.h"
38#include "ompl/util/Exception.h"
39#include <cstring>
40#include <limits>
41
43{
44 const unsigned int dim = space_->getDimension();
45 const base::RealVectorBounds &bounds = static_cast<const RealVectorControlSpace *>(space_)->getBounds();
46
47 auto *rcontrol = static_cast<RealVectorControlSpace::ControlType *>(control);
48 for (unsigned int i = 0; i < dim; ++i)
49 rcontrol->values[i] = rng_.uniformReal(bounds.low[i], bounds.high[i]);
50}
51
57
59{
60 bounds.check();
61 if (bounds.low.size() != dimension_)
62 throw Exception("Bounds do not match dimension of control space: expected dimension " +
63 std::to_string(dimension_) + " but got dimension " + std::to_string(bounds.low.size()));
64 bounds_ = bounds;
65}
66
71
73{
74 memcpy(static_cast<ControlType *>(destination)->values, static_cast<const ControlType *>(source)->values,
75 controlBytes_);
76}
77
78bool ompl::control::RealVectorControlSpace::equalControls(const Control *control1, const Control *control2) const
79{
80 const double *s1 = static_cast<const ControlType *>(control1)->values;
81 const double *s2 = static_cast<const ControlType *>(control2)->values;
82 for (unsigned int i = 0; i < dimension_; ++i)
83 {
84 double diff = (*s1++) - (*s2++);
85 if (fabs(diff) > std::numeric_limits<double>::epsilon() * 2.0)
86 return false;
87 }
88 return true;
89}
90
92{
93 return std::make_shared<RealVectorControlUniformSampler>(this);
94}
95
97{
98 auto *rcontrol = new ControlType();
99 rcontrol->values = new double[dimension_];
100 return rcontrol;
101}
102
104{
105 auto *rcontrol = static_cast<ControlType *>(control);
106 delete[] rcontrol->values;
107 delete rcontrol;
108}
109
111{
112 auto *rcontrol = static_cast<ControlType *>(control);
113 for (unsigned int i = 0; i < dimension_; ++i)
114 {
115 if (bounds_.low[i] <= 0.0 && bounds_.high[i] >= 0.0)
116 rcontrol->values[i] = 0.0;
117 else
118 rcontrol->values[i] = bounds_.low[i];
119 }
120}
121
123{
124 return index < dimension_ ? static_cast<ControlType *>(control)->values + index : nullptr;
125}
126
128{
129 out << "RealVectorControl [";
130 if (control != nullptr)
131 {
132 const auto *rcontrol = static_cast<const ControlType *>(control);
133 for (unsigned int i = 0; i < dimension_; ++i)
134 {
135 out << rcontrol->values[i];
136 if (i + 1 < dimension_)
137 out << ' ';
138 }
139 }
140 else
141 out << "nullptr";
142 out << ']' << std::endl;
143}
144
146{
147 out << "Real vector control space '" << getName() << "' with bounds: " << std::endl;
148 out << " - min: ";
149 for (unsigned int i = 0; i < dimension_; ++i)
150 out << bounds_.low[i] << " ";
151 out << std::endl;
152 out << " - max: ";
153 for (unsigned int i = 0; i < dimension_; ++i)
154 out << bounds_.high[i] << " ";
155 out << std::endl;
156}
157
159{
160 return controlBytes_;
161}
162
163void ompl::control::RealVectorControlSpace::serialize(void *serialization, const Control *ctrl) const
164{
165 memcpy(serialization, ctrl->as<ControlType>()->values, controlBytes_);
166}
167
168void ompl::control::RealVectorControlSpace::deserialize(Control *ctrl, const void *serialization) const
169{
170 memcpy(ctrl->as<ControlType>()->values, serialization, controlBytes_);
171}
The exception type for ompl.
Definition Exception.h:47
The lower and upper bounds for an Rn space.
const ControlSpace * space_
The control space this sampler operates on.
RNG rng_
Instance of random number generator.
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
const std::string & getName() const
Get the name of the control space.
Definition of an abstract control.
Definition Control.h:48
const T * as() const
Cast this instance to a desired type.
Definition Control.h:64
double * values
An array of length n, representing the value of the control.
A control space representing Rn.
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.
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.
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