ompl/control/spaces/DiscreteControlSpace.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_SPACES_DISCRETE_CONTROL_SPACE_
00038 #define OMPL_CONTROL_SPACES_DISCRETE_CONTROL_SPACE_
00039 
00040 #include "ompl/control/ControlSpace.h"
00041 
00042 namespace ompl
00043 {
00044     namespace control
00045     {
00046 
00048         class DiscreteControlSampler : public ControlSampler
00049         {
00050         public:
00051 
00053             DiscreteControlSampler(const ControlSpace *space) : ControlSampler(space)
00054             {
00055             }
00056 
00057             virtual void sample(Control *control);
00058         };
00059 
00064         class DiscreteControlSpace : public ControlSpace
00065         {
00066         public:
00067 
00069             class ControlType : public Control
00070             {
00071             public:
00072 
00074                 int value;
00075             };
00076 
00078             DiscreteControlSpace(const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound) :
00079                 ControlSpace(stateSpace), lowerBound_(lowerBound), upperBound_(upperBound)
00080             {
00081                 setName("Discrete" + getName());
00082                 type_ = CONTROL_SPACE_DISCRETE;
00083             }
00084 
00085             virtual ~DiscreteControlSpace()
00086             {
00087             }
00088 
00089             virtual unsigned int getDimension() const;
00090 
00091             virtual void copyControl(Control *destination, const Control *source) const;
00092 
00093             virtual bool equalControls(const Control *control1, const Control *control2) const;
00094 
00095             virtual ControlSamplerPtr allocDefaultControlSampler() const;
00096 
00097             virtual Control* allocControl() const;
00098 
00099             virtual void freeControl(Control *control) const;
00100 
00102             virtual void nullControl(Control *control) const;
00103 
00104             virtual void printControl(const Control *control, std::ostream &out) const;
00105 
00106             virtual void printSettings(std::ostream &out) const;
00107 
00109             unsigned int getControlCount() const
00110             {
00111                 return upperBound_ - lowerBound_ + 1;
00112             }
00113 
00115             int getLowerBound() const
00116             {
00117                 return lowerBound_;
00118             }
00119 
00121             int getUpperBound() const
00122             {
00123                 return upperBound_;
00124             }
00125 
00127             void setBounds(int lowerBound, int upperBound)
00128             {
00129                 lowerBound_ = lowerBound;
00130                 upperBound_ = upperBound;
00131             }
00132 
00133             virtual void setup();
00134 
00136             virtual unsigned int getSerializationLength() const;
00137 
00139             virtual void serialize(void *serialization, const Control *ctrl) const;
00140 
00142             virtual void deserialize(Control *ctrl, const void *serialization) const;
00143 
00144         protected:
00145 
00147             int lowerBound_;
00148 
00150             int upperBound_;
00151         };
00152 
00153     }
00154 }
00155 
00156 #endif
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