ompl/control/spaces/src/DiscreteControlSpace.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/control/spaces/DiscreteControlSpace.h"
00038 #include "ompl/util/Exception.h"
00039 
00040 void ompl::control::DiscreteControlSampler::sample(Control *control)
00041 {
00042     control->as<DiscreteControlSpace::ControlType>()->value =
00043         rng_.uniformInt(space_->as<DiscreteControlSpace>()->getLowerBound(),
00044                         space_->as<DiscreteControlSpace>()->getUpperBound());
00045 }
00046 
00047 unsigned int ompl::control::DiscreteControlSpace::getDimension() const
00048 {
00049     return 1;
00050 }
00051 
00052 void ompl::control::DiscreteControlSpace::copyControl(Control *destination, const Control *source) const
00053 {
00054     destination->as<ControlType>()->value = source->as<ControlType>()->value;
00055 }
00056 
00057 bool ompl::control::DiscreteControlSpace::equalControls(const Control *control1, const Control *control2) const
00058 {
00059     return control1->as<ControlType>()->value == control2->as<ControlType>()->value;
00060 }
00061 
00062 ompl::control::ControlSamplerPtr ompl::control::DiscreteControlSpace::allocDefaultControlSampler() const
00063 {
00064     return ControlSamplerPtr(new DiscreteControlSampler(this));
00065 }
00066 
00067 ompl::control::Control* ompl::control::DiscreteControlSpace::allocControl() const
00068 {
00069     return new ControlType();
00070 }
00071 
00072 void ompl::control::DiscreteControlSpace::freeControl(Control *control) const
00073 {
00074     delete static_cast<ControlType*>(control);
00075 }
00076 
00077 void ompl::control::DiscreteControlSpace::nullControl(Control *control) const
00078 {
00079     control->as<ControlType>()->value = lowerBound_;
00080 }
00081 
00082 void ompl::control::DiscreteControlSpace::printControl(const Control *control, std::ostream &out) const
00083 {
00084     out << "DiscreteControl [";
00085     if (control)
00086         out << control->as<ControlType>()->value;
00087     else
00088         out << "NULL";
00089     out << ']' << std::endl;
00090 }
00091 
00092 void ompl::control::DiscreteControlSpace::printSettings(std::ostream &out) const
00093 {
00094     out << "Discrete control space '" << getName() << "' with bounds [" << lowerBound_ << ", " << upperBound_ << "]" << std::endl;
00095 }
00096 
00097 void ompl::control::DiscreteControlSpace::setup()
00098 {
00099     if (lowerBound_ > upperBound_)
00100         throw Exception("Lower bound cannot be larger than upper bound for a discrete space");
00101     ControlSpace::setup();
00102 }
00103 
00104 unsigned int ompl::control::DiscreteControlSpace::getSerializationLength() const
00105 {
00106     return sizeof(int);
00107 }
00108 
00109 void ompl::control::DiscreteControlSpace::serialize(void *serialization, const Control *ctrl) const
00110 {
00111     memcpy(serialization, &ctrl->as<ControlType>()->value, sizeof(int));
00112 }
00113 
00114 void ompl::control::DiscreteControlSpace::deserialize(Control *ctrl, const void *serialization) const
00115 {
00116     memcpy(&ctrl->as<ControlType>()->value, serialization, sizeof(int));
00117 }
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