ompl::control::SpaceInformation Class Reference

Space information containing necessary information for planning with controls. setup() needs to be called before use. More...

#include <SpaceInformation.h>

Inheritance diagram for ompl::control::SpaceInformation:

[legend]

List of all members.

Public Member Functions
const ControlSpacePtr &	getControlSpace (void) const
	Get the control space.
virtual void	printSettings (std::ostream &out=std::cout) const
	Print information about the current instance of the state space.
virtual void	setup (void)
	Perform additional setup tasks (run once, before use).
	SpaceInformation (const base::StateSpacePtr &stateSpace, const ControlSpacePtr &controlSpace)
	Constructor. Sets the instance of the state and control spaces to plan with.
virtual	~SpaceInformation (void)
Control memory management

Control *	allocControl (void) const
	Allocate memory for a control.
Control *	cloneControl (const Control *source) const
	Clone a control.
void	copyControl (Control destination, const Control source) const
	Copy a control to another.
void	freeControl (Control *control) const
	Free the memory of a control.
Sampling of controls

ControlSamplerPtr	allocControlSampler (void) const
	Allocate a control sampler.
unsigned int	getMaxControlDuration (void) const
	Get the maximum number of steps a control is propagated for.
unsigned int	getMinControlDuration (void) const
	Get the minimum number of steps a control is propagated for.
double	getPropagationStepSize (void) const
	Propagation is performed at integer multiples of a specified step size. This function returns the value of this step size.
void	setMinMaxControlDuration (unsigned int minSteps, unsigned int maxSteps)
	Set the minimum and maximum number of steps a control is propagated for.
void	setPropagationStepSize (double stepSize)
	When controls are applied to states, they are applied for a time duration that is an integer multiple of the stepSize, within the bounds specified by setMinMaxControlDuration().
Topology-specific control operations (as in the control space)

bool	equalControls (const Control control1, const Control control2) const
	Check if two controls are the same.
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.
void	printControl (const Control *control, std::ostream &out=std::cout) const
	Print a control to a stream.
Primitives for propagating the model of the system

void	propagate (const base::State state, const Control control, unsigned int steps, std::vector< base::State * > &result, bool alloc) const
	Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps.
void	propagate (const base::State state, const Control control, unsigned int steps, base::State *result) const
	Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps.
unsigned int	propagateWhileValid (const base::State state, const Control control, unsigned int steps, std::vector< base::State * > &result, bool alloc) const
	Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and no states are added to result. If alloc is false and result cannot store all the generated states, propagation is stopped prematurely (when result is full). The starting state (state) is not included in result. The return value of the function indicates how many states have been written to result.
unsigned int	propagateWhileValid (const base::State state, const Control control, unsigned int steps, base::State *result) const
	Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and result = state.
Protected Attributes
ControlSpacePtr	controlSpace_
	The control space describing the space of controls applicable to states in the state space.
unsigned int	maxSteps_
	The maximum number of steps to apply a control for.
unsigned int	minSteps_
	The minimum number of steps to apply a control for.
double	stepSize_
	The actual duration of each step.

Detailed Description

Space information containing necessary information for planning with controls. setup() needs to be called before use.

Definition at line 61 of file control/SpaceInformation.h.

Constructor & Destructor Documentation

ompl::control::SpaceInformation::SpaceInformation	(	const base::StateSpacePtr &	stateSpace,
		const ControlSpacePtr &	controlSpace
	)			`[inline]`

Constructor. Sets the instance of the state and control spaces to plan with.

Definition at line 66 of file control/SpaceInformation.h.

virtual ompl::control::SpaceInformation::~SpaceInformation ( void ) [inline, virtual]

Reimplemented from ompl::base::SpaceInformation.

Definition at line 72 of file control/SpaceInformation.h.

Member Function Documentation

Control* ompl::control::SpaceInformation::allocControl ( void ) const [inline]

Allocate memory for a control.

Definition at line 86 of file control/SpaceInformation.h.

ControlSamplerPtr ompl::control::SpaceInformation::allocControlSampler ( void ) const [inline]

Allocate a control sampler.

Definition at line 140 of file control/SpaceInformation.h.

Control* ompl::control::SpaceInformation::cloneControl ( const Control * source ) const [inline]

Clone a control.

Definition at line 104 of file control/SpaceInformation.h.

void ompl::control::SpaceInformation::copyControl	(	Control *	destination,
		const Control *	source
	)			const `[inline]`

Copy a control to another.

Definition at line 98 of file control/SpaceInformation.h.

bool ompl::control::SpaceInformation::equalControls	(	const Control *	control1,
		const Control *	control2
	)			const `[inline]`

Check if two controls are the same.

Definition at line 123 of file control/SpaceInformation.h.

void ompl::control::SpaceInformation::freeControl ( Control * control ) const [inline]

Free the memory of a control.

Definition at line 92 of file control/SpaceInformation.h.

const ControlSpacePtr& ompl::control::SpaceInformation::getControlSpace ( void ) const [inline]

Get the control space.

Definition at line 77 of file control/SpaceInformation.h.

unsigned int ompl::control::SpaceInformation::getMaxControlDuration ( void ) const [inline]

Get the maximum number of steps a control is propagated for.

Definition at line 172 of file control/SpaceInformation.h.

unsigned int ompl::control::SpaceInformation::getMinControlDuration ( void ) const [inline]

Get the minimum number of steps a control is propagated for.

Definition at line 166 of file control/SpaceInformation.h.

double ompl::control::SpaceInformation::getPropagationStepSize ( void ) const [inline]

Propagation is performed at integer multiples of a specified step size. This function returns the value of this step size.

Definition at line 153 of file control/SpaceInformation.h.

void ompl::control::SpaceInformation::nullControl ( Control * control ) const [inline]

Make the control have no effect if it were to be applied to a state for any amount of time.

Definition at line 129 of file control/SpaceInformation.h.

void ompl::control::SpaceInformation::printControl	(	const Control *	control,
		std::ostream &	out = `std::cout`
	)			const `[inline]`

Print a control to a stream.

Definition at line 117 of file control/SpaceInformation.h.

virtual void ompl::control::SpaceInformation::printSettings ( std::ostream & out = std::cout ) const [virtual]

Print information about the current instance of the state space.

Reimplemented from ompl::base::SpaceInformation.

void ompl::control::SpaceInformation::propagate	(	const base::State *	state,
		const Control *	control,
		unsigned int	steps,
		std::vector< base::State * > &	result,
		bool	alloc
	)			const

Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps.

Parameters:

	state	the state to start at
	control	the control to apply
	steps	the number of time steps to apply the control for. Each time step is of length getPropagationStepSize()
	result	the set of states along the propagated motion
	alloc	flag indicating whether memory for the states in result should be allocated

Note:: Start state state is not included in result

void ompl::control::SpaceInformation::propagate	(	const base::State *	state,
		const Control *	control,
		unsigned int	steps,
		base::State *	result
	)			const

Propagate the model of the system forward, starting a a given state, with a given control, for a given number of steps.

Parameters:

	state	the state to start at
	control	the control to apply
	steps	the number of time steps to apply the control for. Each time step is of length getPropagationStepSize()
	result	the state at the end of the propagation

unsigned int ompl::control::SpaceInformation::propagateWhileValid	(	const base::State *	state,
		const Control *	control,
		unsigned int	steps,
		std::vector< base::State * > &	result,
		bool	alloc
	)			const

Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and no states are added to result. If alloc is false and result cannot store all the generated states, propagation is stopped prematurely (when result is full). The starting state (state) is not included in result. The return value of the function indicates how many states have been written to result.

Parameters:

	state	the state to start at
	control	the control to apply
	steps	the maximum number of time steps to apply the control for. Each time step is of length getPropagationStepSize()
	result	the set of states along the propagated motion (only valid states included)
	alloc	flag indicating whether memory for the states in result should be allocated

unsigned int ompl::control::SpaceInformation::propagateWhileValid	(	const base::State *	state,
		const Control *	control,
		unsigned int	steps,
		base::State *	result
	)			const

Propagate the model of the system forward, starting at a given state, with a given control, for a given number of steps. Stop if a collision is found and return the number of steps actually performed without collision. If no collision is found, the returned value is equal to the steps argument. If a collision is found after the first step, the return value is 0 and result = state.

Parameters:

	state	the state to start at
	control	the control to apply
	steps	the maximum number of time steps to apply the control for. Each time step is of length getPropagationStepSize()
	result	the state at the end of the propagation or the last valid state if a collision is found

void ompl::control::SpaceInformation::setMinMaxControlDuration	(	unsigned int	minSteps,
		unsigned int	maxSteps
	)			`[inline]`

Set the minimum and maximum number of steps a control is propagated for.

Definition at line 159 of file control/SpaceInformation.h.

void ompl::control::SpaceInformation::setPropagationStepSize ( double stepSize ) [inline]

When controls are applied to states, they are applied for a time duration that is an integer multiple of the stepSize, within the bounds specified by setMinMaxControlDuration().

Definition at line 147 of file control/SpaceInformation.h.

virtual void ompl::control::SpaceInformation::setup ( void ) [virtual]

Perform additional setup tasks (run once, before use).

Reimplemented from ompl::base::SpaceInformation.