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RealVectorControlSpace.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
00038 #define OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
00039 
00040 #include "ompl/control/ControlSpace.h"
00041 #include "ompl/base/spaces/RealVectorBounds.h"
00042 #include <vector>
00043 
00044 namespace ompl
00045 {
00046     namespace control
00047     {
00048 
00050         class RealVectorControlUniformSampler : public ControlSampler
00051         {
00052         public:
00053 
00055             RealVectorControlUniformSampler(const ControlSpace *space) : ControlSampler(space)
00056             {
00057             }
00058 
00059             virtual void sample(Control *control);
00060         };
00061 
00063         class RealVectorControlSpace : public ControlSpace
00064         {
00065         public:
00066 
00068             class ControlType : public Control
00069             {
00070             public:
00071 
00074                 double operator[](unsigned int i) const
00075                 {
00076                     return values[i];
00077                 }
00078 
00081                 double& operator[](unsigned int i)
00082                 {
00083                     return values[i];
00084                 }
00085 
00087                 double *values;
00088             };
00089 
00091             RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim) :
00092                 ControlSpace(stateSpace), dimension_(dim), bounds_(dim), controlBytes_(dim * sizeof(double))
00093             {
00094                 setName("RealVector" + getName());
00095             }
00096 
00097             virtual ~RealVectorControlSpace(void)
00098             {
00099             }
00100 
00102             void setBounds(const base::RealVectorBounds &bounds);
00103 
00105             const base::RealVectorBounds& getBounds(void) const
00106             {
00107                 return bounds_;
00108             }
00109 
00110             virtual unsigned int getDimension(void) const;
00111 
00112             virtual void copyControl(Control *destination, const Control *source) const;
00113 
00114             virtual bool equalControls(const Control *control1, const Control *control2) const;
00115 
00116             virtual ControlSamplerPtr allocControlSampler(void) const;
00117 
00118             virtual Control* allocControl(void) const;
00119 
00120             virtual void freeControl(Control *control) const;
00121 
00122             virtual void nullControl(Control *control) const;
00123 
00124             virtual void printControl(const Control *control, std::ostream &out) const;
00125 
00126             virtual double* getValueAddressAtIndex(Control *control, const unsigned int index) const;
00127 
00128             virtual void printSettings(std::ostream &out) const;
00129 
00130             virtual void setup(void);
00131 
00132         protected:
00133 
00135             unsigned int           dimension_;
00136 
00138             base::RealVectorBounds bounds_;
00139 
00140         private:
00141             std::size_t            controlBytes_;
00142         };
00143     }
00144 }
00145 
00146 #endif