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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
42namespace ompl
43{
44 namespace control
45 {
48 {
49 public:
52 {
53 }
54
55 void sample(Control *control) override;
56 };
57
63 {
64 public:
66 class ControlType : public Control
67 {
68 public:
70 int value;
71 };
72
75 DiscreteControlSpace(const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound)
76 : ControlSpace(stateSpace), lowerBound_(lowerBound), upperBound_(upperBound)
77 {
78 setName("Discrete" + getName());
80 }
81
82 ~DiscreteControlSpace() override = default;
83
84 unsigned int getDimension() const override;
85
86 void copyControl(Control *destination, const Control *source) const override;
87
88 bool equalControls(const Control *control1, const Control *control2) const override;
89
91
92 Control *allocControl() const override;
93
94 void freeControl(Control *control) const override;
95
97 void nullControl(Control *control) const override;
98
99 void printControl(const Control *control, std::ostream &out) const override;
100
101 void printSettings(std::ostream &out) const override;
102
104 unsigned int getControlCount() const
105 {
106 return upperBound_ - lowerBound_ + 1;
107 }
108
110 int getLowerBound() const
111 {
112 return lowerBound_;
113 }
114
116 int getUpperBound() const
117 {
118 return upperBound_;
119 }
120
123 void setBounds(int lowerBound, int upperBound)
124 {
125 lowerBound_ = lowerBound;
126 upperBound_ = upperBound;
127 }
128
129 void setup() override;
130
132 unsigned int getSerializationLength() const override;
133
135 void serialize(void *serialization, const Control *ctrl) const override;
136
138 void deserialize(Control *ctrl, const void *serialization) const override;
139
140 protected:
143
146 };
147 }
148}
149
150#endif
A shared pointer wrapper for ompl::control::ControlSampler.
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
A control space representing the space of applicable controls.
Definition: ControlSpace.h:64
int type_
A type assigned for this control space.
Definition: ControlSpace.h:184
const std::string & getName() const
Get the name of the control space.
void setName(const std::string &name)
Set the name of the control space.
Definition of an abstract control.
Definition: Control.h:48
Control space sampler for discrete controls.
DiscreteControlSampler(const ControlSpace *space)
Constructor.
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
The definition of a discrete control.
int value
The current control - an int in range [lowerBound, upperBound].
A space representing discrete controls; i.e. there are a small number of discrete controls the system...
bool equalControls(const Control *control1, const Control *control2) const override
Check if two controls are the same.
void printSettings(std::ostream &out) const override
Print the settings for this control space to a stream.
void printControl(const Control *control, std::ostream &out) const override
Print a control to a stream.
int lowerBound_
The lowest integer state.
void deserialize(Control *ctrl, const void *serialization) const override
Deserializes a control from the serialization buffer.
int getUpperBound() const
Returns the highest possible control value.
unsigned int getSerializationLength() const override
Returns the serialization size for a single control in this space.
unsigned int getDimension() const override
Get the dimension of this control space.
int upperBound_
The highest integer state.
void freeControl(Control *control) const override
Free the memory of a control.
void serialize(void *serialization, const Control *ctrl) const override
Serializes the given control into the serialization buffer.
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation.
Control * allocControl() const override
Allocate memory for a control.
DiscreteControlSpace(const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound)
Construct a discrete space in wich controls can take values in the set [lowerBound,...
unsigned int getControlCount() const
Returns the number of controls possible.
void copyControl(Control *destination, const Control *source) const override
Copy a control to another.
int getLowerBound() const
Returns the lowest possible control value.
ControlSamplerPtr allocDefaultControlSampler() const override
Allocate the default control sampler.
void nullControl(Control *control) const override
This sets the control value to lowerBound_.
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound,...
@ CONTROL_SPACE_DISCRETE
ompl::control::DiscreteControlSpace
Main namespace. Contains everything in this library.