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/util/Console.h"
#include "ompl/util/ClassForward.h"
#include <boost/concept_check.hpp>
#include <boost/noncopyable.hpp>
#include <boost/function.hpp>
#include <iostream>
#include <vector>

namespace ompl
{

    namespace control
    {

        ClassForward(ControlSpace);

        typedef boost::function4<void, const base::State*, const Control*, const double, base::State*> StatePropagationFn;

        class ControlSpace : private boost::noncopyable
        {
        public:

            ControlSpace(const base::StateSpacePtr &stateSpace);

            virtual ~ControlSpace(void);

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

                return static_cast<T*>(this);
            }

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

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

            const std::string& getName(void) const;

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

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

            virtual unsigned int getDimension(void) const = 0;

            virtual Control* allocControl(void) 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 allocControlSampler(void) const = 0;

            virtual void propagate(const base::State *state, const Control* control, const double duration, base::State *result) const;

            virtual bool canPropagateBackward(void) const;

            void setPropagationFunction(const StatePropagationFn &fn);

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

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

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

            virtual void setup(void);

        protected:

            base::StateSpacePtr    stateSpace_;

            StatePropagationFn     statePropagation_;

        private:

            std::string            name_;
        };

        class CompoundControlSpace : public ControlSpace
        {
        public:

            typedef CompoundControl ControlType;

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

            virtual ~CompoundControlSpace(void)
            {
            }

            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(void) const;

            const ControlSpacePtr& getSubSpace(const unsigned int index) const;

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

            virtual unsigned int getDimension(void) const;

            virtual Control* allocControl(void) const;

            virtual void freeControl(Control *control) const;

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

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

            virtual void nullControl(Control *control) const;

            virtual ControlSamplerPtr allocControlSampler(void) const;

            virtual void propagate(const base::State *state, const Control* control, const double duration, base::State *result) const;

            virtual bool canPropagateBackward(void) const;

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

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

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

            virtual void setup(void);

            void lock(void);

        protected:

            std::vector<ControlSpacePtr>    components_;

            unsigned int                    componentCount_;

            bool                            locked_;
        };
    }
}

#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:19 2013