ompl/control/ControlSpace.h
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IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef OMPL_CONTROL_CONTROL_SPACE_ 00038 #define OMPL_CONTROL_CONTROL_SPACE_ 00039 00040 #include "ompl/base/StateSpace.h" 00041 #include "ompl/control/Control.h" 00042 #include "ompl/control/ControlSampler.h" 00043 #include "ompl/control/ControlSpaceTypes.h" 00044 #include "ompl/util/Console.h" 00045 #include "ompl/util/ClassForward.h" 00046 #include <boost/concept_check.hpp> 00047 #include <boost/noncopyable.hpp> 00048 #include <iostream> 00049 #include <vector> 00050 00051 namespace ompl 00052 { 00053 00054 namespace control 00055 { 00056 00058 00059 OMPL_CLASS_FORWARD(ControlSpace); 00061 00066 class ControlSpace : private boost::noncopyable 00067 { 00068 public: 00069 00071 ControlSpace(const base::StateSpacePtr &stateSpace); 00072 00073 virtual ~ControlSpace(); 00074 00076 template<class T> 00077 T* as() 00078 { 00080 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, ControlSpace*>)); 00081 00082 return static_cast<T*>(this); 00083 } 00084 00086 template<class T> 00087 const T* as() const 00088 { 00090 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, ControlSpace*>)); 00091 00092 return static_cast<const T*>(this); 00093 } 00094 00096 const std::string& getName() const; 00097 00099 void setName(const std::string &name); 00100 00104 int getType() const 00105 { 00106 return type_; 00107 } 00108 00110 const base::StateSpacePtr& getStateSpace() const 00111 { 00112 return stateSpace_; 00113 } 00114 00116 virtual unsigned int getDimension() const = 0; 00117 00119 virtual Control* allocControl() const = 0; 00120 00122 virtual void freeControl(Control *control) const = 0; 00123 00125 virtual void copyControl(Control *destination, const Control *source) const = 0; 00126 00128 virtual bool equalControls(const Control *control1, const Control *control2) const = 0; 00129 00131 virtual void nullControl(Control *control) const = 0; 00132 00134 virtual ControlSamplerPtr allocDefaultControlSampler() const = 0; 00135 00139 virtual ControlSamplerPtr allocControlSampler() const; 00140 00142 void setControlSamplerAllocator(const ControlSamplerAllocator &csa); 00143 00145 void clearControlSamplerAllocator(); 00146 00151 virtual double* getValueAddressAtIndex(Control *control, const unsigned int index) const; 00152 00154 virtual void printControl(const Control *control, std::ostream &out) const; 00155 00157 virtual void printSettings(std::ostream &out) const; 00158 00160 virtual void setup(); 00161 00163 virtual unsigned int getSerializationLength() const; 00164 00166 virtual void serialize(void *serialization, const Control *ctrl) const; 00167 00169 virtual void deserialize(Control *ctrl, const void *serialization) const; 00170 00173 void computeSignature(std::vector<int> &signature) const; 00174 00176 virtual bool isCompound() const; 00177 00178 protected: 00179 00181 int type_; 00182 00184 base::StateSpacePtr stateSpace_; 00185 00187 ControlSamplerAllocator csa_; 00188 00189 private: 00190 00192 std::string name_; 00193 }; 00194 00196 class CompoundControlSpace : public ControlSpace 00197 { 00198 public: 00199 00201 typedef CompoundControl ControlType; 00202 00204 CompoundControlSpace(const base::StateSpacePtr &stateSpace) : ControlSpace(stateSpace), componentCount_(0), locked_(false) 00205 { 00206 } 00207 00208 virtual ~CompoundControlSpace() 00209 { 00210 } 00211 00213 template<class T> 00214 T* as(const unsigned int index) const 00215 { 00217 BOOST_CONCEPT_ASSERT((boost::Convertible<T*, ControlSpace*>)); 00218 00219 return static_cast<T*>(getSubspace(index).get()); 00220 } 00221 00223 virtual void addSubspace(const ControlSpacePtr &component); 00224 00226 unsigned int getSubspaceCount() const; 00227 00229 const ControlSpacePtr& getSubspace(const unsigned int index) const; 00230 00232 const ControlSpacePtr& getSubspace(const std::string &name) const; 00233 00234 virtual unsigned int getDimension() const; 00235 00236 virtual Control* allocControl() const; 00237 00238 virtual void freeControl(Control *control) const; 00239 00240 virtual void copyControl(Control *destination, const Control *source) const; 00241 00242 virtual bool equalControls(const Control *control1, const Control *control2) const; 00243 00244 virtual void nullControl(Control *control) const; 00245 00246 virtual ControlSamplerPtr allocDefaultControlSampler() const; 00247 00248 virtual double* getValueAddressAtIndex(Control *control, const unsigned int index) const; 00249 00250 virtual void printControl(const Control *control, std::ostream &out = std::cout) const; 00251 00252 virtual void printSettings(std::ostream &out) const; 00253 00254 virtual void setup(); 00255 00257 virtual unsigned int getSerializationLength() const; 00258 00260 virtual void serialize(void *serialization, const Control *ctrl) const; 00261 00263 virtual void deserialize(Control *ctrl, const void *serialization) const; 00264 00265 virtual bool isCompound() const; 00266 00272 void lock(); 00273 00274 protected: 00275 00277 std::vector<ControlSpacePtr> components_; 00278 00280 unsigned int componentCount_; 00281 00283 bool locked_; 00284 }; 00285 } 00286 } 00287 00288 #endif