ompl::control::ControlSpace Class Reference

A control space representing the space of applicable controls. More...

#include <ControlSpace.h>

Inheritance diagram for ompl::control::ControlSpace:

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.
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).
	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.
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).
void	setName (const std::string &name)
	Set the name of the control space.
void	setPropagationFunction (const StatePropagationFn &fn)
	Set the function that performs state propagation.
virtual void	setup (void)
	Perform final setup steps. This function is automatically called by the SpaceInformation.
virtual	~ControlSpace (void)
Protected Attributes
StatePropagationFn	statePropagation_
	Function that can perform state propagation.
base::StateSpacePtr	stateSpace_
	The state space controls can be applied to.
Private Attributes
std::string	name_
	The name of this control space.

Detailed Description

A control space representing the space of applicable controls.

Definition at line 67 of file ControlSpace.h.

Constructor & Destructor Documentation

ompl::control::ControlSpace::ControlSpace ( const base::StateSpacePtr & stateSpace )

Construct a control space, given the state space.

virtual ompl::control::ControlSpace::~ControlSpace ( void ) [virtual]

Member Function Documentation

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.

template<class T >

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 88 of file ControlSpace.h.

template<class T >

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 78 of file ControlSpace.h.

virtual bool ompl::control::ControlSpace::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 in ompl::control::CompoundControlSpace, and ompl::control::ODEControlSpace.

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 103 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.

virtual void ompl::control::ControlSpace::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 in ompl::control::CompoundControlSpace, and ompl::control::ODEControlSpace.

void ompl::control::ControlSpace::setName ( const std::string & name )

Set the name of the control space.

void ompl::control::ControlSpace::setPropagationFunction ( const StatePropagationFn & fn )

Set the function that performs state propagation.

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.