RealVectorControlSpace.h
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
Definition: ControlSampler.h:70
ompl::control::RealVectorControlSpace
Definition: ControlSpaceTypes.h:53
const std::string & getName() const
Get the name of the control space.
Definition: ControlSpace.cpp:71
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...
Definition: RealVectorControlSpace.h:91
A boost shared pointer wrapper for ompl::base::StateSpace.
A boost shared pointer wrapper for ompl::control::ControlSampler.
virtual unsigned int getSerializationLength() const
Returns the serialization size for a single control in this space.
Definition: RealVectorControlSpace.cpp:160
virtual void serialize(void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.
Definition: RealVectorControlSpace.cpp:165
void setName(const std::string &name)
Set the name of the control space.
Definition: ControlSpace.cpp:76
virtual void printControl(const Control *control, std::ostream &out) const
Print a control to a stream.
Definition: RealVectorControlSpace.cpp:129
virtual unsigned int getDimension() const
Get the dimension of this control space.
Definition: RealVectorControlSpace.cpp:69
virtual double * getValueAddressAtIndex(Control *control, const unsigned int index) const
Many controls contain a number of double values. This function provides a means to get the memory add...
Definition: RealVectorControlSpace.cpp:124
virtual void nullControl(Control *control) const
Make the control have no effect if it were to be applied to a state for any amount of time...
Definition: RealVectorControlSpace.cpp:112
virtual void deserialize(Control *ctrl, const void *serialization) const
Deserializes a control from the serialization buffer.
Definition: RealVectorControlSpace.cpp:170
virtual void copyControl(Control *destination, const Control *source) const
Copy a control to another.
Definition: RealVectorControlSpace.cpp:74
A control space representing Rn.
Definition: RealVectorControlSpace.h:63
virtual ControlSamplerPtr allocDefaultControlSampler() const
Allocate the default control sampler.
Definition: RealVectorControlSpace.cpp:93
virtual Control * allocControl() const
Allocate memory for a control.
Definition: RealVectorControlSpace.cpp:98
The definition of a control in Rn
Definition: RealVectorControlSpace.h:68
A control space representing the space of applicable controls.
Definition: ControlSpace.h:66
virtual void freeControl(Control *control) const
Free the memory of a control.
Definition: RealVectorControlSpace.cpp:105
virtual void printSettings(std::ostream &out) const
Print the settings for this control space to a stream.
Definition: RealVectorControlSpace.cpp:147
RealVectorControlUniformSampler(const ControlSpace *space)
Constructor.
Definition: RealVectorControlSpace.h:55
Uniform sampler for the Rn state space.
Definition: RealVectorControlSpace.h:50
double & operator[](unsigned int i)
Access element i of values. This does not check whether the index is within bounds.
Definition: RealVectorControlSpace.h:81
const base::RealVectorBounds & getBounds() const
Get the bounds (min max values for each dimension) for the control.
Definition: RealVectorControlSpace.h:106
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
double operator[](unsigned int i) const
Access element i of values. This does not check whether the index is within bounds.
Definition: RealVectorControlSpace.h:74
virtual void sample(Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition: RealVectorControlSpace.cpp:43
virtual bool equalControls(const Control *control1, const Control *control2) const
Check if two controls are the same.
Definition: RealVectorControlSpace.cpp:80
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.
Definition: RealVectorControlSpace.cpp:59
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
Definition: RealVectorControlSpace.cpp:53
double * values
An array of length n, representing the value of the control.
Definition: RealVectorControlSpace.h:87