All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator
ompl::control::SpaceInformation Class Reference

Space information containing necessary information for planning with controls. setup() needs to be called before use. More...

#include <SpaceInformation.h>

Inheritance diagram for ompl::control::SpaceInformation:

List of all members.

Public Member Functions

 SpaceInformation (const base::StateSpacePtr &stateSpace, const ControlSpacePtr &controlSpace)
 Constructor. Sets the instance of the state and control spaces to plan with.
const ControlSpacePtrgetControlSpace (void) const
 Get the control space.
virtual void printSettings (std::ostream &out=std::cout) const
 Print information about the current instance of the state space.
virtual void setup (void)
 Perform additional setup tasks (run once, before use)
Control memory management
ControlallocControl (void) const
 Allocate memory for a control.
void freeControl (Control *control) const
 Free the memory of a control.
void copyControl (Control *destination, const Control *source) const
 Copy a control to another.
ControlcloneControl (const Control *source) const
 Clone a control.
Topology-specific control operations (as in the control space)
void printControl (const Control *control, std::ostream &out=std::cout) const
 Print a control to a stream.
bool equalControls (const Control *control1, const Control *control2) const
 Check if two controls are the same.
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.
Sampling of controls
ControlSamplerPtr allocControlSampler (void) const
 Allocate a control sampler.
void setMinMaxControlDuration (unsigned int minSteps, unsigned int maxSteps)
 Set the minimum and maximum number of steps a control is propagated for.
unsigned int getMinControlDuration (void) const
 Get the minimum number of steps a control is propagated for.
unsigned int getMaxControlDuration (void) const
 Get the maximum number of steps a control is propagated for.
Configuration of the state propagator
const StatePropagatorPtr & getStatePropagator (void) const
 Get the instance of StatePropagator that performs state propagation.
void setStatePropagator (const StatePropagatorFn &fn)
 Set the function that performs state propagation.
void setStatePropagator (const StatePropagatorPtr &sp)
 Set the instance of StatePropagator to perform state propagation.
void setPropagationStepSize (double stepSize)
 When controls are applied to states, they are applied for a time duration that is an integer multiple of the stepSize, within the bounds specified by setMinMaxControlDuration()
double getPropagationStepSize (void) const
 Propagation is performed at integer multiples of a specified step size. This function returns the value of this step size.
Primitives for propagating the model of the system
void propagate (const base::State *state, const Control *control, int steps, base::State *result) const
 Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps.
bool canPropagateBackward (void) const
 Some systems can only propagate forward in time (i.e., the steps argument for the propagate() function is always positive). If this is the case, this function will return false. Planners that need backward propagation (negative steps) will call this function to check. If backward propagation is possible, this function will return true (this is the default).
unsigned int propagateWhileValid (const base::State *state, const Control *control, int steps, base::State *result) const
 Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and result = state.
void propagate (const base::State *state, const Control *control, int steps, std::vector< base::State * > &result, bool alloc) const
 Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps.
unsigned int propagateWhileValid (const base::State *state, const Control *control, int steps, std::vector< base::State * > &result, bool alloc) const
 Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and no states are added to result. If alloc is false and result cannot store all the generated states, propagation is stopped prematurely (when result is full). The starting state (state) is not included in result. The return value of the function indicates how many states have been written to result.

Protected Attributes

ControlSpacePtr controlSpace_
 The control space describing the space of controls applicable to states in the state space.
StatePropagatorPtr statePropagator_
 The state propagator used to model the motion of the system being planned for.
unsigned int minSteps_
 The minimum number of steps to apply a control for.
unsigned int maxSteps_
 The maximum number of steps to apply a control for.
double stepSize_
 The actual duration of each step.

Detailed Description

Space information containing necessary information for planning with controls. setup() needs to be called before use.

Definition at line 66 of file SpaceInformation.h.


Member Function Documentation

void ompl::control::SpaceInformation::propagate ( const base::State state,
const Control control,
int  steps,
base::State result 
) const

Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps.

Parameters:
statethe state to start at
controlthe control to apply
stepsthe number of time steps to apply the control for. Each time step is of length getPropagationStepSize()
resultthe state at the end of the propagation

Definition at line 106 of file SpaceInformation.cpp.

void ompl::control::SpaceInformation::propagate ( const base::State state,
const Control control,
int  steps,
std::vector< base::State * > &  result,
bool  alloc 
) const

Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps.

Parameters:
statethe state to start at
controlthe control to apply
stepsthe number of time steps to apply the control for. Each time step is of length getPropagationStepSize(). If steps is negative, backward propagation will be performed.
resultthe set of states along the propagated motion
allocflag indicating whether memory for the states in result should be allocated
Note:
Start state state is not included in result

Definition at line 181 of file SpaceInformation.cpp.

unsigned int ompl::control::SpaceInformation::propagateWhileValid ( const base::State state,
const Control control,
int  steps,
base::State result 
) const

Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and result = state.

Parameters:
statethe state to start at
controlthe control to apply
stepsthe maximum number of time steps to apply the control for. Each time step is of length getPropagationStepSize(). If steps is negative, backward propagation will be performed.
resultthe state at the end of the propagation or the last valid state if a collision is found

Definition at line 124 of file SpaceInformation.cpp.

unsigned int ompl::control::SpaceInformation::propagateWhileValid ( const base::State state,
const Control control,
int  steps,
std::vector< base::State * > &  result,
bool  alloc 
) const

Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and no states are added to result. If alloc is false and result cannot store all the generated states, propagation is stopped prematurely (when result is full). The starting state (state) is not included in result. The return value of the function indicates how many states have been written to result.

Parameters:
statethe state to start at
controlthe control to apply
stepsthe maximum number of time steps to apply the control for. Each time step is of length getPropagationStepSize(). If steps is negative, backward propagation will be performed.
resultthe set of states along the propagated motion (only valid states included)
allocflag indicating whether memory for the states in result should be allocated

Definition at line 214 of file SpaceInformation.cpp.


The documentation for this class was generated from the following files: