ControlSpace.h
204 CompoundControlSpace(const base::StateSpacePtr &stateSpace) : ControlSpace(stateSpace), componentCount_(0), locked_(false)
virtual Control * allocControl() const =0
Allocate memory for a control.
unsigned int getSubspaceCount() const
Get the number of control spaces that make up the compound control space.
Definition: ControlSpace.cpp:152
virtual void serialize(void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.
Definition: ControlSpace.cpp:123
const base::StateSpacePtr & getStateSpace() const
Return the state space this control space depends on.
Definition: ControlSpace.h:110
base::StateSpacePtr stateSpace_
The state space controls can be applied to.
Definition: ControlSpace.h:184
const std::string & getName() const
Get the name of the control space.
Definition: ControlSpace.cpp:71
virtual void freeControl(Control *control) const =0
Free the memory of a control.
bool locked_
Flag indicating whether adding further components is allowed or not.
Definition: ControlSpace.h:283
virtual ControlSamplerPtr allocDefaultControlSampler() const =0
Allocate the default control sampler.
virtual void addSubspace(const ControlSpacePtr &component)
Adds a control space as a component of the compound control space.
Definition: ControlSpace.cpp:143
A boost shared pointer wrapper for ompl::base::StateSpace.
A boost shared pointer wrapper for ompl::control::ControlSampler.
virtual void deserialize(Control *ctrl, const void *serialization) const
Deserializes a control from the serialization buffer.
Definition: ControlSpace.cpp:127
virtual void serialize(void *serialization, const Control *ctrl) const
Serializes the given control into the serialization buffer.
Definition: ControlSpace.cpp:291
void lock()
Lock this control space. This means no further control spaces can be added as components. This function can be for instance called from the constructor of a state space that inherits from CompoundControlSpace to prevent the user to add further components.
Definition: ControlSpace.cpp:232
virtual void copyControl(Control *destination, const Control *source) const =0
Copy a control to another.
const ControlSpacePtr & getSubspace(const unsigned int index) const
Get a specific subspace from the compound control space.
Definition: ControlSpace.cpp:157
CompoundControl ControlType
Define the type of control allocated by this control space.
Definition: ControlSpace.h:201
void setName(const std::string &name)
Set the name of the control space.
Definition: ControlSpace.cpp:76
void clearControlSamplerAllocator()
Clear the control sampler allocator (reset to default)
Definition: ControlSpace.cpp:98
virtual unsigned int getDimension() const
Get the dimension of this control space.
Definition: ControlSpace.cpp:173
CompoundControlSpace(const base::StateSpacePtr &stateSpace)
Constructor. The corresponding state space needs to be specified.
Definition: ControlSpace.h:204
T * as(const unsigned int index) const
Cast a component of this instance to a desired type.
Definition: ControlSpace.h:214
virtual void printControl(const Control *control, std::ostream &out=std::cout) const
Print a control to a stream.
Definition: ControlSpace.cpp:259
virtual void printSettings(std::ostream &out) const
Print the settings for this control space to a stream.
Definition: ControlSpace.cpp:113
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 add...
Definition: ControlSpace.cpp:103
std::vector< ControlSpacePtr > components_
The component control spaces that make up the compound control space.
Definition: ControlSpace.h:277
A boost shared pointer wrapper for ompl::control::ControlSpace.
virtual bool isCompound() const
Check if the control space is compound.
Definition: ControlSpace.cpp:313
int getType() const
Get the type of the control space. The type can be used to verify whether two space instances are of ...
Definition: ControlSpace.h:104
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
Definition: ControlSpace.cpp:81
virtual void copyControl(Control *destination, const Control *source) const
Copy a control to another.
Definition: ControlSpace.cpp:199
virtual unsigned int getSerializationLength() const
Returns the serialization size for a single control in this space.
Definition: ControlSpace.cpp:283
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 add...
Definition: ControlSpace.cpp:237
virtual ControlSamplerPtr allocDefaultControlSampler() const
Allocate the default control sampler.
Definition: ControlSpace.cpp:224
virtual unsigned int getDimension() const =0
Get the dimension of this control space.
ControlSpace(const base::StateSpacePtr &stateSpace)
Construct a control space, given the state space.
Definition: ControlSpace.cpp:61
A control space representing the space of applicable controls.
Definition: ControlSpace.h:66
virtual bool equalControls(const Control *control1, const Control *control2) const
Check if two controls are the same.
Definition: ControlSpace.cpp:207
virtual unsigned int getSerializationLength() const
Returns the serialization size for a single control in this space.
Definition: ControlSpace.cpp:118
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.
Definition: ControlSpace.cpp:108
void computeSignature(std::vector< int > &signature) const
Compute an array of ints that uniquely identifies the structure of the control space. The first element of the signature is the number of integers that follow.
Definition: ControlSpace.cpp:131
void setControlSamplerAllocator(const ControlSamplerAllocator &csa)
Set the sampler allocator to use.
Definition: ControlSpace.cpp:93
A control space to allow the composition of control spaces.
Definition: ControlSpace.h:196
virtual bool isCompound() const
Check if the control space is compound.
Definition: ControlSpace.cpp:138
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
Definition: ControlSpace.cpp:276
virtual ControlSamplerPtr allocControlSampler() const
Allocate an instance of the control sampler for this space. This sampler will be allocated with the s...
Definition: ControlSpace.cpp:85
virtual void deserialize(Control *ctrl, const void *serialization) const
Deserializes a control from the serialization buffer.
Definition: ControlSpace.cpp:302
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...
Definition: ControlSpace.cpp:217
virtual Control * allocControl() const
Allocate memory for a control.
Definition: ControlSpace.cpp:181
virtual void printSettings(std::ostream &out) const
Print the settings for this control space to a stream.
Definition: ControlSpace.cpp:268
virtual void freeControl(Control *control) const
Free the memory of a control.
Definition: ControlSpace.cpp:190
boost::function< ControlSamplerPtr(const ControlSpace *)> ControlSamplerAllocator
Definition of a function that can allocate a control sampler.
Definition: ControlSampler.h:167
virtual bool equalControls(const Control *control1, const Control *control2) const =0
Check if two controls are the same.