Program Listing for File ControlSpace.h

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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_CONTROL_SPACE_
#define OMPL_CONTROL_CONTROL_SPACE_

#include "ompl/base/StateSpace.h"
#include "ompl/control/Control.h"
#include "ompl/control/ControlSampler.h"
#include "ompl/control/ControlSpaceTypes.h"
#include "ompl/util/Console.h"
#include "ompl/util/ClassForward.h"
#include <boost/concept_check.hpp>
#include <iostream>
#include <vector>

namespace ompl
{
    namespace control
    {

        OMPL_CLASS_FORWARD(ControlSpace);

        class ControlSpace
        {
        public:
            using ControlType = ompl::control::Control;

            // non-copyable
            ControlSpace(const ControlSpace &) = delete;
            ControlSpace &operator=(const ControlSpace &) = delete;

            ControlSpace(base::StateSpacePtr stateSpace);

            virtual ~ControlSpace();

            template <class T>
            T *as()
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));

                return static_cast<T *>(this);
            }

            template <class T>
            const T *as() const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));

                return static_cast<const T *>(this);
            }

            const std::string &getName() const;

            void setName(const std::string &name);

            int getType() const
            {
                return type_;
            }

            const base::StateSpacePtr &getStateSpace() const
            {
                return stateSpace_;
            }

            virtual unsigned int getDimension() const = 0;

            virtual Control *allocControl() const = 0;

            virtual void freeControl(Control *control) const = 0;

            virtual void copyControl(Control *destination, const Control *source) const = 0;

            virtual bool equalControls(const Control *control1, const Control *control2) const = 0;

            virtual void nullControl(Control *control) const = 0;

            virtual ControlSamplerPtr allocDefaultControlSampler() const = 0;

            virtual ControlSamplerPtr allocControlSampler() const;

            void setControlSamplerAllocator(const ControlSamplerAllocator &csa);

            void clearControlSamplerAllocator();

            virtual double *getValueAddressAtIndex(Control *control, unsigned int index) const;

            virtual void printControl(const Control *control, std::ostream &out) const;

            virtual void printSettings(std::ostream &out) const;

            virtual void setup();

            virtual unsigned int getSerializationLength() const;

            virtual void serialize(void *serialization, const Control *ctrl) const;

            virtual void deserialize(Control *ctrl, const void *serialization) const;

            void computeSignature(std::vector<int> &signature) const;

            virtual bool isCompound() const;

        protected:
            int type_;

            base::StateSpacePtr stateSpace_;

            ControlSamplerAllocator csa_;

        private:
            std::string name_;
        };

        class CompoundControlSpace : public ControlSpace
        {
        public:
            using ControlType = ompl::control::CompoundControl;

            CompoundControlSpace(const base::StateSpacePtr &stateSpace)
              : ControlSpace(stateSpace), componentCount_(0), locked_(false)
            {
            }

            ~CompoundControlSpace() override = default;

            template <class T>
            T *as(const unsigned int index) const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, ControlSpace *>));

                return static_cast<T *>(getSubspace(index).get());
            }

            virtual void addSubspace(const ControlSpacePtr &component);

            unsigned int getSubspaceCount() const;

            const ControlSpacePtr &getSubspace(unsigned int index) const;

            const ControlSpacePtr &getSubspace(const std::string &name) const;

            unsigned int getDimension() const override;

            Control *allocControl() const override;

            void freeControl(Control *control) const override;

            void copyControl(Control *destination, const Control *source) const override;

            bool equalControls(const Control *control1, const Control *control2) const override;

            void nullControl(Control *control) const override;

            ControlSamplerPtr allocDefaultControlSampler() const override;

            double *getValueAddressAtIndex(Control *control, unsigned int index) const override;

            void printControl(const Control *control, std::ostream &out = std::cout) const override;

            void printSettings(std::ostream &out) const override;

            void setup() override;

            unsigned int getSerializationLength() const override;

            void serialize(void *serialization, const Control *ctrl) const override;

            void deserialize(Control *ctrl, const void *serialization) const override;

            bool isCompound() const override;

            void lock();

        protected:
            std::vector<ControlSpacePtr> components_;

            unsigned int componentCount_;

            bool locked_;
        };
    }
}

#endif