SpaceInformation.h

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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_SPACE_INFORMATION_
#define OMPL_CONTROL_SPACE_INFORMATION_

#include "ompl/base/SpaceInformation.h"
#include "ompl/control/ControlSpace.h"
#include "ompl/control/ControlSampler.h"
#include "ompl/control/Control.h"
#include "ompl/util/ClassForward.h"

namespace ompl
{

    namespace control
    {

        ClassForward(SpaceInformation);

        class SpaceInformation : public base::SpaceInformation
        {
        public:

            SpaceInformation(const base::StateSpacePtr &stateSpace, const ControlSpacePtr &controlSpace) :
                base::SpaceInformation(stateSpace), controlSpace_(controlSpace),
                minSteps_(0), maxSteps_(0), stepSize_(0.0)
            {
            }

            virtual ~SpaceInformation(void)
            {
            }

            const ControlSpacePtr& getControlSpace(void) const
            {
                return controlSpace_;
            }

            Control* allocControl(void) const
            {
                return controlSpace_->allocControl();
            }

            void freeControl(Control *control) const
            {
                controlSpace_->freeControl(control);
            }

            void copyControl(Control *destination, const Control *source) const
            {
                controlSpace_->copyControl(destination, source);
            }

            Control* cloneControl(const Control *source) const
            {
                Control *copy = controlSpace_->allocControl();
                controlSpace_->copyControl(copy, source);
                return copy;
            }

            void printControl(const Control *control, std::ostream &out = std::cout) const
            {
                controlSpace_->printControl(control, out);
            }

            bool equalControls(const Control *control1, const Control *control2) const
            {
                return controlSpace_->equalControls(control1, control2);
            }

            void nullControl(Control *control) const
            {
                controlSpace_->nullControl(control);
            }

            ControlSamplerPtr allocControlSampler(void) const
            {
                return controlSpace_->allocControlSampler();
            }

            void setPropagationStepSize(double stepSize)
            {
                stepSize_ = stepSize;
            }

            double getPropagationStepSize(void) const
            {
                return stepSize_;
            }

            void setMinMaxControlDuration(unsigned int minSteps, unsigned int maxSteps)
            {
                minSteps_ = minSteps;
                maxSteps_ = maxSteps;
            }

            unsigned int getMinControlDuration(void) const
            {
                return minSteps_;
            }

            unsigned int getMaxControlDuration(void) const
            {
                return maxSteps_;
            }
            void propagate(const base::State *state, const Control* control, unsigned int steps, base::State *result) const;

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

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

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

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

            virtual void setup(void);

        protected:

            ControlSpacePtr controlSpace_;

            unsigned int       minSteps_;

            unsigned int       maxSteps_;

            double             stepSize_;

        };

    }

}

#endif

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:20 2013