37 #ifndef OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
38 #define OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
40 #include "ompl/control/ControlSpace.h"
41 #include "ompl/base/spaces/RealVectorBounds.h"
131 virtual void setup(
void);
151 std::size_t controlBytes_;
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
ompl::control::RealVectorControlSpace
RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim)
Constructor takes the state space the controls correspond to and the dimension of the space of contro...
Definition of an abstract control.
A boost shared pointer wrapper for ompl::base::StateSpace.
A boost shared pointer wrapper for ompl::control::ControlSampler.
virtual void serialize(void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.
void setName(const std::string &name)
Set the name of the control space.
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.
const base::RealVectorBounds & getBounds(void) const
Get the bounds (min max values for each dimension) for the control.
virtual void copyControl(Control *destination, const Control *source) const
Copy a control to another.
unsigned int dimension_
The dimension of the state space.
const std::string & getName(void) const
Get the name of the control space.
A control space representing Rn.
int type_
A type assigned for this control space.
The definition of a control in Rn
A control space representing the space of applicable controls.
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.
double & operator[](unsigned int i)
Access element i of values. This does not check whether the index is within bounds.
virtual ControlSamplerPtr allocDefaultControlSampler(void) const
Allocate the default control sampler.
The lower and upper bounds for an Rn space.
double operator[](unsigned int i) const
Access element i of values. This does not check whether the index is within bounds.
base::RealVectorBounds bounds_
The bounds on controls.
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.