RealVectorControlSpace.h

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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
#define OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_

#include "ompl/control/ControlSpace.h"
#include "ompl/base/spaces/RealVectorBounds.h"
#include <vector>

namespace ompl
{
    namespace control
    {

        class RealVectorControlUniformSampler : public ControlSampler
        {
        public:

            RealVectorControlUniformSampler(const ControlSpace *space) : ControlSampler(space)
            {
            }

            virtual void sample(Control *control);
        };

        class RealVectorControlSpace : public ControlSpace
        {
        public:

            class ControlType : public Control
            {
            public:

                double operator[](unsigned int i) const
                {
                    return values[i];
                }

                double& operator[](unsigned int i)
                {
                    return values[i];
                }

                double *values;
            };

            RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim) :
                ControlSpace(stateSpace), dimension_(dim), bounds_(dim), controlBytes_(dim * sizeof(double))
            {
                setName("RealVector" + getName());
            }

            virtual ~RealVectorControlSpace(void)
            {
            }

            void setBounds(const base::RealVectorBounds &bounds);

            const base::RealVectorBounds& getBounds(void) const
            {
                return bounds_;
            }

            virtual unsigned int getDimension(void) const;

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

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

            virtual ControlSamplerPtr allocControlSampler(void) const;

            virtual Control* allocControl(void) const;

            virtual void freeControl(Control *control) const;

            virtual void nullControl(Control *control) const;

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

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

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

            virtual void setup(void);

        protected:

            unsigned int           dimension_;

            base::RealVectorBounds bounds_;

        private:
            std::size_t            controlBytes_;
        };
    }
}

#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