A control space representing the space of applicable controls. More...
#include <ControlSpace.h>
Public Member Functions | |
| virtual Control * | allocControl (void) const =0 |
| Allocate memory for a control. | |
| virtual ControlSamplerPtr | allocControlSampler (void) const =0 |
| Allocate a control sampler. | |
| template<class T > | |
| const T * | as (void) const |
| Cast this instance to a desired type. | |
| template<class T > | |
| T * | as (void) |
| Cast this instance to a desired type. | |
| ControlSpace (const base::StateSpacePtr &stateSpace) | |
| Construct a control space, given the state space. | |
| 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 | freeControl (Control *control) const =0 |
| Free the memory of a control. | |
| virtual unsigned int | getDimension (void) const =0 |
| Get the dimension of this control space. | |
| const std::string & | getName (void) const |
| Get the name of the control space. | |
| const base::StateSpacePtr & | getStateSpace (void) const |
| Return the state space this control space depends on. | |
| 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 | 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 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. | |
| void | setName (const std::string &name) |
| Set the name of the control space. | |
| virtual void | setup (void) |
| Perform final setup steps. This function is automatically called by the SpaceInformation. | |
| virtual | ~ControlSpace (void) |
Protected Attributes | |
| base::StateSpacePtr | stateSpace_ |
| The state space controls can be applied to. | |
Private Attributes | |
| std::string | name_ |
| The name of this control space. | |
A control space representing the space of applicable controls.
Definition at line 52 of file ControlSpace.h.
| ompl::control::ControlSpace::ControlSpace | ( | const base::StateSpacePtr & | stateSpace | ) |
Construct a control space, given the state space.
| virtual ompl::control::ControlSpace::~ControlSpace | ( | void | ) | [virtual] |
| virtual Control* ompl::control::ControlSpace::allocControl | ( | void | ) | const [pure virtual] |
Allocate memory for a control.
Implemented in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
| virtual ControlSamplerPtr ompl::control::ControlSpace::allocControlSampler | ( | void | ) | const [pure virtual] |
Allocate a control sampler.
Implemented in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
| 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 73 of file ControlSpace.h.
| 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 63 of file ControlSpace.h.
| virtual void ompl::control::ControlSpace::copyControl | ( | Control * | destination, | |
| const Control * | source | |||
| ) | const [pure virtual] |
Copy a control to another.
Implemented in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
| virtual bool ompl::control::ControlSpace::equalControls | ( | const Control * | control1, | |
| const Control * | control2 | |||
| ) | const [pure virtual] |
Check if two controls are the same.
Implemented in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
| virtual void ompl::control::ControlSpace::freeControl | ( | Control * | control | ) | const [pure virtual] |
Free the memory of a control.
Implemented in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
| virtual unsigned int ompl::control::ControlSpace::getDimension | ( | void | ) | const [pure virtual] |
Get the dimension of this control space.
Implemented in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
| const std::string& ompl::control::ControlSpace::getName | ( | void | ) | const |
Get the name of the control space.
| const base::StateSpacePtr& ompl::control::ControlSpace::getStateSpace | ( | void | ) | const [inline] |
Return the state space this control space depends on.
Definition at line 88 of file ControlSpace.h.
| virtual double* ompl::control::ControlSpace::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 in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
| virtual void ompl::control::ControlSpace::nullControl | ( | Control * | control | ) | const [pure virtual] |
Make the control have no effect if it were to be applied to a state for any amount of time.
Implemented in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
| virtual void ompl::control::ControlSpace::printControl | ( | const Control * | control, | |
| std::ostream & | out | |||
| ) | const [virtual] |
Print a control to a stream.
Reimplemented in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
| virtual void ompl::control::ControlSpace::printSettings | ( | std::ostream & | out | ) | const [virtual] |
Print the settings for this control space to a stream.
Reimplemented in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
| void ompl::control::ControlSpace::setName | ( | const std::string & | name | ) |
Set the name of the control space.
| virtual void ompl::control::ControlSpace::setup | ( | void | ) | [virtual] |
Perform final setup steps. This function is automatically called by the SpaceInformation.
Reimplemented in ompl::control::CompoundControlSpace, and ompl::control::RealVectorControlSpace.
std::string ompl::control::ControlSpace::name_ [private] |
The name of this control space.
Definition at line 137 of file ControlSpace.h.
The state space controls can be applied to.
Definition at line 132 of file ControlSpace.h.
