DiscreteControlSpace.h
Abstract definition of a control sampler. Motion planners that need to sample controls will call func...
Definition: ControlSampler.h:70
virtual unsigned int getSerializationLength() const
Returns the serialization size for a single control in this space.
Definition: DiscreteControlSpace.cpp:104
const std::string & getName() const
Get the name of the control space.
Definition: ControlSpace.cpp:71
unsigned int getControlCount() const
Returns the number of controls possible.
Definition: DiscreteControlSpace.h:109
virtual void printControl(const Control *control, std::ostream &out) const
Print a control to a stream.
Definition: DiscreteControlSpace.cpp:82
A boost shared pointer wrapper for ompl::base::StateSpace.
virtual bool equalControls(const Control *control1, const Control *control2) const
Check if two controls are the same.
Definition: DiscreteControlSpace.cpp:57
A space representing discrete controls; i.e. there are a small number of discrete controls the system...
Definition: DiscreteControlSpace.h:64
virtual void deserialize(Control *ctrl, const void *serialization) const
Deserializes a control from the serialization buffer.
Definition: DiscreteControlSpace.cpp:114
virtual void sample(Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition: DiscreteControlSpace.cpp:40
void setName(const std::string &name)
Set the name of the control space.
Definition: ControlSpace.cpp:76
DiscreteControlSpace(const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound)
Construct a discrete space in wich controls can take values in the set [lowerBound, upperBound].
Definition: DiscreteControlSpace.h:78
The definition of a discrete control.
Definition: DiscreteControlSpace.h:69
int getUpperBound() const
Returns the highest possible control value.
Definition: DiscreteControlSpace.h:121
virtual void printSettings(std::ostream &out) const
Print the settings for this control space to a stream.
Definition: DiscreteControlSpace.cpp:92
int getLowerBound() const
Returns the lowest possible control value.
Definition: DiscreteControlSpace.h:115
int value
The current control - an int in range [lowerBound, upperBound].
Definition: DiscreteControlSpace.h:74
ompl::control::DiscreteControlSpace
Definition: ControlSpaceTypes.h:56
Control space sampler for discrete controls.
Definition: DiscreteControlSpace.h:48
virtual void serialize(void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.
Definition: DiscreteControlSpace.cpp:109
virtual void nullControl(Control *control) const
This sets the control value to lowerBound_.
Definition: DiscreteControlSpace.cpp:77
virtual Control * allocControl() const
Allocate memory for a control.
Definition: DiscreteControlSpace.cpp:67
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
Definition: DiscreteControlSpace.cpp:97
A control space representing the space of applicable controls.
Definition: ControlSpace.h:66
virtual void copyControl(Control *destination, const Control *source) const
Copy a control to another.
Definition: DiscreteControlSpace.cpp:52
virtual unsigned int getDimension() const
Get the dimension of this control space.
Definition: DiscreteControlSpace.cpp:47
virtual void freeControl(Control *control) const
Free the memory of a control.
Definition: DiscreteControlSpace.cpp:72
virtual ControlSamplerPtr allocDefaultControlSampler() const
Allocate the default control sampler.
Definition: DiscreteControlSpace.cpp:62
void setBounds(int lowerBound, int upperBound)
Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].
Definition: DiscreteControlSpace.h:127