DiscreteControlSpace.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_SPACES_DISCRETE_CONTROL_SPACE_
38 #define OMPL_CONTROL_SPACES_DISCRETE_CONTROL_SPACE_
39 
40 #include "ompl/control/ControlSpace.h"
41 
42 namespace ompl
43 {
44  namespace control
45  {
46 
49  {
50  public:
51 
54  {
55  }
56 
57  virtual void sample(Control *control);
58  };
59 
65  {
66  public:
67 
69  class ControlType : public Control
70  {
71  public:
72 
74  int value;
75  };
76 
78  DiscreteControlSpace(const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound) :
79  ControlSpace(stateSpace), lowerBound_(lowerBound), upperBound_(upperBound)
80  {
81  setName("Discrete" + getName());
82  type_ = CONTROL_SPACE_DISCRETE;
83  }
84 
85  virtual ~DiscreteControlSpace()
86  {
87  }
88 
89  virtual unsigned int getDimension() const;
90 
91  virtual void copyControl(Control *destination, const Control *source) const;
92 
93  virtual bool equalControls(const Control *control1, const Control *control2) const;
94 
95  virtual ControlSamplerPtr allocDefaultControlSampler() const;
96 
97  virtual Control* allocControl() const;
98 
99  virtual void freeControl(Control *control) const;
100 
102  virtual void nullControl(Control *control) const;
103 
104  virtual void printControl(const Control *control, std::ostream &out) const;
105 
106  virtual void printSettings(std::ostream &out) const;
107 
109  unsigned int getControlCount() const
110  {
111  return upperBound_ - lowerBound_ + 1;
112  }
113 
115  int getLowerBound() const
116  {
117  return lowerBound_;
118  }
119 
121  int getUpperBound() const
122  {
123  return upperBound_;
124  }
125 
127  void setBounds(int lowerBound, int upperBound)
128  {
129  lowerBound_ = lowerBound;
130  upperBound_ = upperBound;
131  }
132 
133  virtual void setup();
134 
136  virtual unsigned int getSerializationLength() const;
137 
139  virtual void serialize(void *serialization, const Control *ctrl) const;
140 
142  virtual void deserialize(Control *ctrl, const void *serialization) const;
143 
144  protected:
145 
148 
151  };
152 
153  }
154 }
155 
156 #endif
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
unsigned int getControlCount() const
Returns the number of controls possible.
Definition of an abstract control.
Definition: Control.h:48
A boost shared pointer wrapper for ompl::base::StateSpace.
A boost shared pointer wrapper for ompl::control::ControlSampler.
A space representing discrete controls; i.e. there are a small number of discrete controls the system...
virtual void sample(Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
DiscreteControlSpace(const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound)
Construct a discrete space in wich controls can take values in the set [lowerBound, upperBound].
The definition of a discrete control.
int getUpperBound() const
Returns the highest possible control value.
int upperBound_
The highest integer state.
int getLowerBound() const
Returns the lowest possible control value.
int value
The current control - an int in range [lowerBound, upperBound].
ompl::control::DiscreteControlSpace
Control space sampler for discrete controls.
Main namespace. Contains everything in this library.
Definition: Cost.h:42
A control space representing the space of applicable controls.
Definition: ControlSpace.h:66
int lowerBound_
The lowest integer state.
DiscreteControlSampler(const ControlSpace *space)
Constructor.
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].