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DiscreteControlSpace.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/control/spaces/DiscreteControlSpace.h"
38 #include "ompl/util/Exception.h"
39 
41 {
42  control->as<DiscreteControlSpace::ControlType>()->value =
44  space_->as<DiscreteControlSpace>()->getUpperBound());
45 }
46 
48 {
49  return 1;
50 }
51 
52 void ompl::control::DiscreteControlSpace::copyControl(Control *destination, const Control *source) const
53 {
54  destination->as<ControlType>()->value = source->as<ControlType>()->value;
55 }
56 
57 bool ompl::control::DiscreteControlSpace::equalControls(const Control *control1, const Control *control2) const
58 {
59  return control1->as<ControlType>()->value == control2->as<ControlType>()->value;
60 }
61 
63 {
64  return ControlSamplerPtr(new DiscreteControlSampler(this));
65 }
66 
68 {
69  return new ControlType();
70 }
71 
73 {
74  delete static_cast<ControlType*>(control);
75 }
76 
78 {
79  control->as<ControlType>()->value = lowerBound_;
80 }
81 
82 void ompl::control::DiscreteControlSpace::printControl(const Control *control, std::ostream &out) const
83 {
84  out << "DiscreteControl [";
85  if (control)
86  out << control->as<ControlType>()->value;
87  else
88  out << "NULL";
89  out << ']' << std::endl;
90 }
91 
93 {
94  out << "Discrete control space '" << getName() << "' with bounds [" << lowerBound_ << ", " << upperBound_ << "]" << std::endl;
95 }
96 
98 {
99  if (lowerBound_ > upperBound_)
100  throw Exception("Lower bound cannot be larger than upper bound for a discrete space");
102 }
103 
105 {
106  return sizeof(int);
107 }
108 
109 void ompl::control::DiscreteControlSpace::serialize(void *serialization, const Control *ctrl) const
110 {
111  memcpy(serialization, &ctrl->as<ControlType>()->value, sizeof(int));
112 }
113 
114 void ompl::control::DiscreteControlSpace::deserialize(Control *ctrl, const void *serialization) const
115 {
116  memcpy(&ctrl->as<ControlType>()->value, serialization, sizeof(int));
117 }