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ompl::control::ControlSpace Class Reference

A control space representing the space of applicable controls. More...

#include <ControlSpace.h>

Inheritance diagram for ompl::control::ControlSpace:

List of all members.

Public Member Functions

 ControlSpace (const base::StateSpacePtr &stateSpace)
 Construct a control space, given the state space.
template<class T >
T * as (void)
 Cast this instance to a desired type.
template<class T >
const T * as (void) const
 Cast this instance to a desired type.
const std::string & getName (void) const
 Get the name of the control space.
void setName (const std::string &name)
 Set the name of the control space.
const base::StateSpacePtrgetStateSpace (void) const
 Return the state space this control space depends on.
virtual unsigned int getDimension (void) const =0
 Get the dimension of this control space.
virtual ControlallocControl (void) const =0
 Allocate memory for a control.
virtual void freeControl (Control *control) const =0
 Free the memory of a control.
virtual void copyControl (Control *destination, const Control *source) const =0
 Copy a control to another.
virtual bool equalControls (const Control *control1, const Control *control2) const =0
 Check if two controls are the same.
virtual void nullControl (Control *control) const =0
 Make the control have no effect if it were to be applied to a state for any amount of time.
virtual ControlSamplerPtr allocControlSampler (void) const =0
 Allocate a control sampler.
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 address of a double value from a control control located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the control), the return value is NULL.
virtual void printControl (const Control *control, std::ostream &out) const
 Print a control to a stream.
virtual void printSettings (std::ostream &out) const
 Print the settings for this control space to a stream.
virtual void setup (void)
 Perform final setup steps. This function is automatically called by the SpaceInformation.

Protected Attributes

base::StateSpacePtr stateSpace_
 The state space controls can be applied to.

Detailed Description

A control space representing the space of applicable controls.

Definition at line 63 of file ControlSpace.h.


Member Function Documentation

template<class T >
T* ompl::control::ControlSpace::as ( void  ) [inline]

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a control space

Definition at line 74 of file ControlSpace.h.

template<class T >
const T* ompl::control::ControlSpace::as ( void  ) const [inline]

Cast this instance to a desired type.

Make sure the type we are casting to is indeed a control space

Definition at line 84 of file ControlSpace.h.


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