ompl::control::CompoundControlSpace Class Reference

A control space to allow the composition of control spaces. More...

#include <ControlSpace.h>

Inheritance diagram for ompl::control::CompoundControlSpace:

Public Types
typedef CompoundControl	ControlType
	Define the type of control allocated by this control space.
Public Member Functions
virtual void	addSubSpace (const ControlSpacePtr &component)
	Adds a control space as a component of the compound control space.
virtual Control *	allocControl (void) const
	Allocate memory for a control.
virtual ControlSamplerPtr	allocControlSampler (void) const
	Allocate a control sampler.
template<class T >
T *	as (const unsigned int index) const
	Cast a component of this instance to a desired type.
virtual bool	canPropagateBackward (void) const
	Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default).
	CompoundControlSpace (const base::StateSpacePtr &stateSpace)
	Constructor. The corresponding state space needs to be specified.
virtual void	copyControl (Control destination, const Control source) const
	Copy a control to another.
virtual bool	equalControls (const Control control1, const Control control2) const
	Check if two controls are the same.
virtual void	freeControl (Control *control) const
	Free the memory of a control.
virtual unsigned int	getDimension (void) const
	Get the dimension of this control space.
const ControlSpacePtr &	getSubSpace (const std::string &name) const
	Get a specific subspace from the compound control space.
const ControlSpacePtr &	getSubSpace (const unsigned int index) const
	Get a specific subspace from the compound control space.
unsigned int	getSubSpaceCount (void) const
	Get the number of control spaces that make up the compound control space.
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.
void	lock (void)
	Lock this control space. This means no further control spaces can be added as components. This function can be for instance called from the constructor of a state space that inherits from CompoundControlSpace to prevent the user to add further components.
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.
virtual void	printControl (const Control *control, std::ostream &out=std::cout) 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	propagate (const base::State state, const Control control, const double duration, base::State *result) const
	Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true).
virtual void	setup (void)
	Perform final setup steps. This function is automatically called by the SpaceInformation.
virtual	~CompoundControlSpace (void)
Protected Attributes
unsigned int	componentCount_
	The number of contained components.
std::vector< ControlSpacePtr >	components_
	The component control spaces that make up the compound control space.
bool	locked_
	Flag indicating whether adding further components is allowed or not.

Detailed Description

A control space to allow the composition of control spaces.

Definition at line 185 of file ControlSpace.h.

Member Typedef Documentation

typedef CompoundControl ompl::control::CompoundControlSpace::ControlType

Define the type of control allocated by this control space.

Definition at line 190 of file ControlSpace.h.

Constructor & Destructor Documentation

ompl::control::CompoundControlSpace::CompoundControlSpace ( const base::StateSpacePtr & stateSpace ) [inline]

Constructor. The corresponding state space needs to be specified.

Definition at line 193 of file ControlSpace.h.

virtual ompl::control::CompoundControlSpace::~CompoundControlSpace ( void ) [inline, virtual]

Definition at line 197 of file ControlSpace.h.

Member Function Documentation

virtual void ompl::control::CompoundControlSpace::addSubSpace ( const ControlSpacePtr & component ) [virtual]

Adds a control space as a component of the compound control space.

virtual Control* ompl::control::CompoundControlSpace::allocControl ( void ) const [virtual]

Allocate memory for a control.

Implements ompl::control::ControlSpace.

virtual ControlSamplerPtr ompl::control::CompoundControlSpace::allocControlSampler ( void ) const [virtual]

Allocate a control sampler.

Implements ompl::control::ControlSpace.

template<class T >

T* ompl::control::CompoundControlSpace::as ( const unsigned int index ) const [inline]

Cast a component of this instance to a desired type.

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

Definition at line 203 of file ControlSpace.h.

virtual bool ompl::control::CompoundControlSpace::canPropagateBackward ( void ) const [virtual]

Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default).

Reimplemented from ompl::control::ControlSpace.

virtual void ompl::control::CompoundControlSpace::copyControl	(	Control *	destination,
		const Control *	source
	)			const `[virtual]`

Copy a control to another.

Implements ompl::control::ControlSpace.

virtual bool ompl::control::CompoundControlSpace::equalControls	(	const Control *	control1,
		const Control *	control2
	)			const `[virtual]`

Check if two controls are the same.

Implements ompl::control::ControlSpace.

virtual void ompl::control::CompoundControlSpace::freeControl ( Control * control ) const [virtual]

Free the memory of a control.

Implements ompl::control::ControlSpace.

virtual unsigned int ompl::control::CompoundControlSpace::getDimension ( void ) const [virtual]

Get the dimension of this control space.

Implements ompl::control::ControlSpace.

const ControlSpacePtr& ompl::control::CompoundControlSpace::getSubSpace ( const std::string & name ) const

Get a specific subspace from the compound control space.

const ControlSpacePtr& ompl::control::CompoundControlSpace::getSubSpace ( const unsigned int index ) const

Get a specific subspace from the compound control space.

unsigned int ompl::control::CompoundControlSpace::getSubSpaceCount ( void ) const

Get the number of control spaces that make up the compound control space.

virtual double* ompl::control::CompoundControlSpace::getValueAddressAtIndex	(	Control *	control,
		const unsigned int	index
	)			const `[virtual]`

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.

Reimplemented from ompl::control::ControlSpace.

void ompl::control::CompoundControlSpace::lock ( void )

Lock this control space. This means no further control spaces can be added as components. This function can be for instance called from the constructor of a state space that inherits from CompoundControlSpace to prevent the user to add further components.

virtual void ompl::control::CompoundControlSpace::nullControl ( Control * control ) const [virtual]

Make the control have no effect if it were to be applied to a state for any amount of time.

Implements ompl::control::ControlSpace.

virtual void ompl::control::CompoundControlSpace::printControl	(	const Control *	control,
		std::ostream &	out = `std::cout`
	)			const `[virtual]`

Print a control to a stream.

Reimplemented from ompl::control::ControlSpace.

virtual void ompl::control::CompoundControlSpace::printSettings ( std::ostream & out ) const [virtual]

Print the settings for this control space to a stream.

Reimplemented from ompl::control::ControlSpace.

virtual void ompl::control::CompoundControlSpace::propagate	(	const base::State *	state,
		const Control *	control,
		const double	duration,
		base::State *	result
	)			const `[virtual]`

Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true).

Parameters:

	state	the state to start propagating from
	control	the control to apply
	duration	the duration for which the control is applied
	result	the state the system is brought to

Note:: This function is not used for integration internally. If integrating a system of differential equations is needed, this should be implemented inside the propagate() function.; The pointer to the starting state and the result state may be the same.

Reimplemented from ompl::control::ControlSpace.

virtual void ompl::control::CompoundControlSpace::setup ( void ) [virtual]

Perform final setup steps. This function is automatically called by the SpaceInformation.

Reimplemented from ompl::control::ControlSpace.