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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 <boost/lexical_cast.hpp>
40 #include <cstring>
41 #include <limits>
42 
44 {
45  const unsigned int dim = space_->getDimension();
46  const base::RealVectorBounds &bounds = static_cast<const RealVectorControlSpace*>(space_)->getBounds();
47 
49  for (unsigned int i = 0 ; i < dim ; ++i)
50  rcontrol->values[i] = rng_.uniformReal(bounds.low[i], bounds.high[i]);
51 }
52 
54 {
56  bounds_.check();
57 }
58 
60 {
61  bounds.check();
62  if (bounds.low.size() != dimension_)
63  throw Exception("Bounds do not match dimension of control space: expected dimension " +
64  boost::lexical_cast<std::string>(dimension_) + " but got dimension " +
65  boost::lexical_cast<std::string>(bounds.low.size()));
66  bounds_ = bounds;
67 }
68 
70 {
71  return dimension_;
72 }
73 
75 {
76  memcpy(static_cast<ControlType*>(destination)->values,
77  static_cast<const ControlType*>(source)->values, controlBytes_);
78 }
79 
80 bool ompl::control::RealVectorControlSpace::equalControls(const Control *control1, const Control *control2) const
81 {
82  const double *s1 = static_cast<const ControlType*>(control1)->values;
83  const double *s2 = static_cast<const ControlType*>(control2)->values;
84  for (unsigned int i = 0 ; i < dimension_ ; ++i)
85  {
86  double diff = (*s1++) - (*s2++);
87  if (fabs(diff) > std::numeric_limits<double>::epsilon() * 2.0)
88  return false;
89  }
90  return true;
91 }
92 
94 {
96 }
97 
99 {
100  ControlType *rcontrol = new ControlType();
101  rcontrol->values = new double[dimension_];
102  return rcontrol;
103 }
104 
106 {
107  ControlType *rcontrol = static_cast<ControlType*>(control);
108  delete[] rcontrol->values;
109  delete rcontrol;
110 }
111 
113 {
114  ControlType *rcontrol = static_cast<ControlType*>(control);
115  for (unsigned int i = 0 ; i < dimension_ ; ++i)
116  {
117  if (bounds_.low[i] <= 0.0 && bounds_.high[i] >= 0.0)
118  rcontrol->values[i] = 0.0;
119  else
120  rcontrol->values[i] = bounds_.low[i];
121  }
122 }
123 
124 double* ompl::control::RealVectorControlSpace::getValueAddressAtIndex(Control *control, const unsigned int index) const
125 {
126  return index < dimension_ ? static_cast<ControlType*>(control)->values + index : NULL;
127 }
128 
129 void ompl::control::RealVectorControlSpace::printControl(const Control *control, std::ostream &out) const
130 {
131  out << "RealVectorControl [";
132  if (control)
133  {
134  const ControlType *rcontrol = static_cast<const ControlType*>(control);
135  for (unsigned int i = 0 ; i < dimension_ ; ++i)
136  {
137  out << rcontrol->values[i];
138  if (i + 1 < dimension_)
139  out << ' ';
140  }
141  }
142  else
143  out << "NULL";
144  out << ']' << std::endl;
145 }
146 
148 {
149  out << "Real vector control space '" << getName() << "' with bounds: " << std::endl;
150  out << " - min: ";
151  for (unsigned int i = 0 ; i < dimension_ ; ++i)
152  out << bounds_.low[i] << " ";
153  out << std::endl;
154  out << " - max: ";
155  for (unsigned int i = 0 ; i < dimension_ ; ++i)
156  out << bounds_.high[i] << " ";
157  out << std::endl;
158 }
159 
161 {
162  return controlBytes_;
163 }
164 
165 void ompl::control::RealVectorControlSpace::serialize(void *serialization, const Control *ctrl) const
166 {
167  memcpy(serialization, ctrl->as<ControlType>()->values, controlBytes_);
168 }
169 
170 void ompl::control::RealVectorControlSpace::deserialize(Control *ctrl, const void *serialization) const
171 {
172  memcpy(ctrl->as<ControlType>()->values, serialization, controlBytes_);
173 }
std::vector< double > low
Lower bound.
Definition of an abstract control.
Definition: Control.h:48
A boost shared pointer wrapper for ompl::control::ControlSampler.
const ControlSpace * space_
The control space this sampler operates on.
virtual void setup(void)
Perform final setup steps. This function is automatically called by the SpaceInformation.
virtual void serialize(void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.
virtual unsigned int getSerializationLength(void) const
Returns the serialization size for a single control in this space.
virtual void printControl(const Control *control, std::ostream &out) const
Print a control to a stream.
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...
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...
virtual Control * allocControl(void) const
Allocate memory for a control.
virtual void deserialize(Control *ctrl, const void *serialization) const
Deserializes a control from the serialization buffer.
virtual void copyControl(Control *destination, const Control *source) const
Copy a control to another.
A control space representing Rn.
std::vector< double > high
Upper bound.
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:68
virtual void freeControl(Control *control) const
Free the memory of a control.
virtual void setup(void)
Perform final setup steps. This function is automatically called by the SpaceInformation.
virtual void printSettings(std::ostream &out) const
Print the settings for this control space to a stream.
virtual unsigned int getDimension(void) const
Get the dimension of this control space.
void check(void) const
Check if the bounds are valid (same length for low and high, high[i] > low[i]). Throw an exception if...
Uniform sampler for the Rn state space.
The exception type for ompl.
Definition: Exception.h:47
virtual ControlSamplerPtr allocDefaultControlSampler(void) const
Allocate the default control sampler.
The lower and upper bounds for an Rn space.
const T * as(void) const
Cast this instance to a desired type.
Definition: Control.h:72
virtual unsigned int getDimension(void) const =0
Get the dimension of this control space.
virtual void sample(Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
RNG rng_
Instance of random number generator.
virtual bool equalControls(const Control *control1, const Control *control2) const
Check if two controls are the same.
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.
double * values
An array of length n, representing the value of the control.