A control space representing Rn. The distance function is the L2 norm. More...
#include <RealVectorControlSpace.h>
Classes | |
| class | ControlType |
| The definition of a control in Rn More... | |
Public Member Functions | |
| virtual Control * | allocControl (void) const |
| Allocate memory for a control. | |
| virtual ControlSamplerPtr | allocControlSampler (void) const |
| Allocate a control sampler. | |
| virtual void | copyControl (Control *destination, const Control *source) const |
| Copy a control to another. | |
| virtual bool | equalControls (const Control *control1, const Control *control2) const |
| Check if two controls are the same. | |
| virtual void | freeControl (Control *control) const |
| Free the memory of a control. | |
| const base::RealVectorBounds & | getBounds (void) const |
| Get the bounds (min max values for each dimension) for the control. | |
| virtual unsigned int | getDimension (void) const |
| Get the dimension of this control space. | |
| 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 |
| 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. | |
| RealVectorControlSpace (const base::StateSpacePtr &stateSpace, unsigned int dim) | |
| Constructor takes the state space the controls correspond to and the dimension of the space of controls, dim. | |
| void | setBounds (const base::RealVectorBounds &bounds) |
| Set the bounds (min max values for each dimension) for the control. | |
| virtual void | setup (void) |
| Perform final setup steps. This function is automatically called by the SpaceInformation. | |
| virtual | ~RealVectorControlSpace (void) |
Protected Attributes | |
| base::RealVectorBounds | bounds_ |
| The bounds on controls. | |
| unsigned int | dimension_ |
| The dimension of the state space. | |
Private Attributes | |
| std::size_t | controlBytes_ |
A control space representing Rn. The distance function is the L2 norm.
Definition at line 63 of file RealVectorControlSpace.h.
| ompl::control::RealVectorControlSpace::RealVectorControlSpace | ( | const base::StateSpacePtr & | stateSpace, | |
| unsigned int | dim | |||
| ) | [inline] |
Constructor takes the state space the controls correspond to and the dimension of the space of controls, dim.
Definition at line 91 of file RealVectorControlSpace.h.
| virtual ompl::control::RealVectorControlSpace::~RealVectorControlSpace | ( | void | ) | [inline, virtual] |
Definition at line 97 of file RealVectorControlSpace.h.
| virtual Control* ompl::control::RealVectorControlSpace::allocControl | ( | void | ) | const [virtual] |
Allocate memory for a control.
Implements ompl::control::ControlSpace.
| virtual ControlSamplerPtr ompl::control::RealVectorControlSpace::allocControlSampler | ( | void | ) | const [virtual] |
Allocate a control sampler.
Implements ompl::control::ControlSpace.
| virtual void ompl::control::RealVectorControlSpace::copyControl | ( | Control * | destination, | |
| const Control * | source | |||
| ) | const [virtual] |
Copy a control to another.
Implements ompl::control::ControlSpace.
| virtual bool ompl::control::RealVectorControlSpace::equalControls | ( | const Control * | control1, | |
| const Control * | control2 | |||
| ) | const [virtual] |
Check if two controls are the same.
Implements ompl::control::ControlSpace.
| virtual void ompl::control::RealVectorControlSpace::freeControl | ( | Control * | control | ) | const [virtual] |
Free the memory of a control.
Implements ompl::control::ControlSpace.
| const base::RealVectorBounds& ompl::control::RealVectorControlSpace::getBounds | ( | void | ) | const [inline] |
Get the bounds (min max values for each dimension) for the control.
Definition at line 105 of file RealVectorControlSpace.h.
| virtual unsigned int ompl::control::RealVectorControlSpace::getDimension | ( | void | ) | const [virtual] |
Get the dimension of this control space.
Implements ompl::control::ControlSpace.
| virtual double* ompl::control::RealVectorControlSpace::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 from ompl::control::ControlSpace.
| virtual void ompl::control::RealVectorControlSpace::nullControl | ( | Control * | control | ) | const [virtual] |
Make the control have no effect if it were to be applied to a state for any amount of time.
Implements ompl::control::ControlSpace.
| virtual void ompl::control::RealVectorControlSpace::printControl | ( | const Control * | control, | |
| std::ostream & | out | |||
| ) | const [virtual] |
Print a control to a stream.
Reimplemented from ompl::control::ControlSpace.
| virtual void ompl::control::RealVectorControlSpace::printSettings | ( | std::ostream & | out | ) | const [virtual] |
Print the settings for this control space to a stream.
Reimplemented from ompl::control::ControlSpace.
| void ompl::control::RealVectorControlSpace::setBounds | ( | const base::RealVectorBounds & | bounds | ) |
Set the bounds (min max values for each dimension) for the control.
| virtual void ompl::control::RealVectorControlSpace::setup | ( | void | ) | [virtual] |
Perform final setup steps. This function is automatically called by the SpaceInformation.
Reimplemented from ompl::control::ControlSpace.
The bounds on controls.
Definition at line 138 of file RealVectorControlSpace.h.
std::size_t ompl::control::RealVectorControlSpace::controlBytes_ [private] |
Definition at line 141 of file RealVectorControlSpace.h.
unsigned int ompl::control::RealVectorControlSpace::dimension_ [protected] |
The dimension of the state space.
Definition at line 135 of file RealVectorControlSpace.h.
