RealVectorControlSpace.cpp
46 const base::RealVectorBounds &bounds = static_cast<const RealVectorControlSpace*>(space_)->getBounds();
48 RealVectorControlSpace::ControlType *rcontrol = static_cast<RealVectorControlSpace::ControlType*>(control);
74 void ompl::control::RealVectorControlSpace::copyControl(Control *destination, const Control *source) const
80 bool ompl::control::RealVectorControlSpace::equalControls(const Control *control1, const Control *control2) const
93 ompl::control::ControlSamplerPtr ompl::control::RealVectorControlSpace::allocDefaultControlSampler() const
124 double* ompl::control::RealVectorControlSpace::getValueAddressAtIndex(Control *control, const unsigned int index) const
129 void ompl::control::RealVectorControlSpace::printControl(const Control *control, std::ostream &out) const
165 void ompl::control::RealVectorControlSpace::serialize(void *serialization, const Control *ctrl) const
170 void ompl::control::RealVectorControlSpace::deserialize(Control *ctrl, const void *serialization) const
A boost shared pointer wrapper for ompl::control::ControlSampler.
const ControlSpace * space_
The control space this sampler operates on.
Definition: ControlSampler.h:122
virtual unsigned int getSerializationLength() const
Returns the serialization size for a single control in this space.
Definition: RealVectorControlSpace.cpp:160
virtual void serialize(void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.
Definition: RealVectorControlSpace.cpp:165
virtual void printControl(const Control *control, std::ostream &out) const
Print a control to a stream.
Definition: RealVectorControlSpace.cpp:129
virtual unsigned int getDimension() const
Get the dimension of this control space.
Definition: RealVectorControlSpace.cpp:69
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...
Definition: RealVectorControlSpace.cpp:124
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...
Definition: RealVectorControlSpace.cpp:112
virtual void deserialize(Control *ctrl, const void *serialization) const
Deserializes a control from the serialization buffer.
Definition: RealVectorControlSpace.cpp:170
virtual void copyControl(Control *destination, const Control *source) const
Copy a control to another.
Definition: RealVectorControlSpace.cpp:74
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
Definition: ControlSpace.cpp:81
A control space representing Rn.
Definition: RealVectorControlSpace.h:63
virtual ControlSamplerPtr allocDefaultControlSampler() const
Allocate the default control sampler.
Definition: RealVectorControlSpace.cpp:93
virtual Control * allocControl() const
Allocate memory for a control.
Definition: RealVectorControlSpace.cpp:98
virtual unsigned int getDimension() const =0
Get the dimension of this control space.
The definition of a control in Rn
Definition: RealVectorControlSpace.h:68
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:68
virtual void freeControl(Control *control) const
Free the memory of a control.
Definition: RealVectorControlSpace.cpp:105
virtual void printSettings(std::ostream &out) const
Print the settings for this control space to a stream.
Definition: RealVectorControlSpace.cpp:147
void check() const
Check if the bounds are valid (same length for low and high, high[i] > low[i]). Throw an exception if...
Definition: RealVectorBounds.cpp:89
Uniform sampler for the Rn state space.
Definition: RealVectorControlSpace.h:50
The lower and upper bounds for an Rn space.
Definition: RealVectorBounds.h:48
virtual void sample(Control *control)
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
Definition: RealVectorControlSpace.cpp:43
virtual bool equalControls(const Control *control1, const Control *control2) const
Check if two controls are the same.
Definition: RealVectorControlSpace.cpp:80
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.
Definition: RealVectorControlSpace.cpp:59
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
Definition: RealVectorControlSpace.cpp:53
double * values
An array of length n, representing the value of the control.
Definition: RealVectorControlSpace.h:87