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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 }
virtual ControlSamplerPtr allocDefaultControlSampler(void) const
Allocate the default control sampler.
virtual void printControl(const Control *control, std::ostream &out) const
Print a control to a stream.
Definition of an abstract control.
Definition: Control.h:48
virtual bool equalControls(const Control *control1, const Control *control2) const
Check if two controls are the same.
A boost shared pointer wrapper for ompl::control::ControlSampler.
const ControlSpace * space_
The control space this sampler operates on.
virtual Control * allocControl(void) const
Allocate memory for a control.
A space representing discrete controls; i.e. there are a small number of discrete controls the system...
virtual void deserialize(Control *ctrl, const void *serialization) const
Deserializes a control from the serialization buffer.
virtual void sample(Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
virtual void setup(void)
Perform final setup steps. This function is automatically called by the SpaceInformation.
The definition of a discrete control.
virtual void printSettings(std::ostream &out) const
Print the settings for this control space to a stream.
int value
The current control - an int in range [lowerBound, upperBound].
Control space sampler for discrete controls.
virtual void serialize(void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.
virtual void nullControl(Control *control) const
This sets the control value to lowerBound_.
int getLowerBound(void) const
Returns the lowest possible control value.
virtual void setup(void)
Perform final setup steps. This function is automatically called by the SpaceInformation.
The exception type for ompl.
Definition: Exception.h:47
virtual void copyControl(Control *destination, const Control *source) const
Copy a control to another.
virtual void freeControl(Control *control) const
Free the memory of a control.
const T * as(void) const
Cast this instance to a desired type.
Definition: Control.h:72
RNG rng_
Instance of random number generator.
virtual unsigned int getDimension(void) const
Get the dimension of this control space.
T * as(void)
Cast this instance to a desired type.
Definition: ControlSpace.h:77
int uniformInt(int lower_bound, int upper_bound)
Generate a random integer within given bounds: [lower_bound, upper_bound].
Definition: RandomNumbers.h:75
virtual unsigned int getSerializationLength(void) const
Returns the serialization size for a single control in this space.