ompl/control/SpaceInformation.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_SPACE_INFORMATION_
00038 #define OMPL_CONTROL_SPACE_INFORMATION_
00039 
00040 #include "ompl/base/SpaceInformation.h"
00041 #include "ompl/control/ControlSpace.h"
00042 #include "ompl/control/ControlSampler.h"
00043 #include "ompl/control/DirectedControlSampler.h"
00044 #include "ompl/control/StatePropagator.h"
00045 #include "ompl/control/Control.h"
00046 #include "ompl/util/ClassForward.h"
00047 
00048 namespace ompl
00049 {
00050 
00053     namespace control
00054     {
00055 
00057 
00058         OMPL_CLASS_FORWARD(SpaceInformation);
00060 
00066         typedef boost::function<void(const base::State*, const Control*, const double, base::State*)> StatePropagatorFn;
00067 
00069         class SpaceInformation : public base::SpaceInformation
00070         {
00071         public:
00072 
00074             SpaceInformation(const base::StateSpacePtr &stateSpace, const ControlSpacePtr &controlSpace) :
00075                 base::SpaceInformation(stateSpace), controlSpace_(controlSpace),
00076                 minSteps_(0), maxSteps_(0), stepSize_(0.0)
00077             {
00078             }
00079 
00080             virtual ~SpaceInformation()
00081             {
00082             }
00083 
00085             const ControlSpacePtr& getControlSpace() const
00086             {
00087                 return controlSpace_;
00088             }
00089 
00094             Control* allocControl() const
00095             {
00096                 return controlSpace_->allocControl();
00097             }
00098 
00100             void freeControl(Control *control) const
00101             {
00102                 controlSpace_->freeControl(control);
00103             }
00104 
00106             void copyControl(Control *destination, const Control *source) const
00107             {
00108                 controlSpace_->copyControl(destination, source);
00109             }
00110 
00112             Control* cloneControl(const Control *source) const
00113             {
00114                 Control *copy = controlSpace_->allocControl();
00115                 controlSpace_->copyControl(copy, source);
00116                 return copy;
00117             }
00118 
00125             void printControl(const Control *control, std::ostream &out = std::cout) const
00126             {
00127                 controlSpace_->printControl(control, out);
00128             }
00129 
00131             bool equalControls(const Control *control1, const Control *control2) const
00132             {
00133                 return controlSpace_->equalControls(control1, control2);
00134             }
00135 
00137             void nullControl(Control *control) const
00138             {
00139                 controlSpace_->nullControl(control);
00140             }
00141 
00148             ControlSamplerPtr allocControlSampler() const
00149             {
00150                 return controlSpace_->allocControlSampler();
00151             }
00152 
00154             void setMinMaxControlDuration(unsigned int minSteps, unsigned int maxSteps)
00155             {
00156                 minSteps_ = minSteps;
00157                 maxSteps_ = maxSteps;
00158             }
00159 
00161             unsigned int getMinControlDuration() const
00162             {
00163                 return minSteps_;
00164             }
00165 
00167             unsigned int getMaxControlDuration() const
00168             {
00169                 return maxSteps_;
00170             }
00171 
00174             DirectedControlSamplerPtr allocDirectedControlSampler() const;
00175 
00177             void setDirectedControlSamplerAllocator(const DirectedControlSamplerAllocator &dcsa);
00178 
00180             void clearDirectedSamplerAllocator();
00181 
00188             const StatePropagatorPtr& getStatePropagator() const
00189             {
00190                 return statePropagator_;
00191             }
00192 
00194             void setStatePropagator(const StatePropagatorFn &fn);
00195 
00197             void setStatePropagator(const StatePropagatorPtr &sp);
00198 
00201             void setPropagationStepSize(double stepSize)
00202             {
00203                 stepSize_ = stepSize;
00204             }
00205 
00207             double getPropagationStepSize() const
00208             {
00209                 return stepSize_;
00210             }
00221             void propagate(const base::State *state, const Control *control, int steps, base::State *result) const;
00222 
00227             bool canPropagateBackward() const;
00228 
00236             unsigned int propagateWhileValid(const base::State *state, const Control *control, int steps, base::State *result) const;
00237 
00246             void propagate(const base::State *state, const Control *control, int steps, std::vector<base::State*> &result, bool alloc) const;
00247 
00260             unsigned int propagateWhileValid(const base::State *state, const Control *control, int steps, std::vector<base::State*> &result, bool alloc) const;
00261 
00265             virtual void printSettings(std::ostream &out = std::cout) const;
00266 
00268             virtual void setup();
00269 
00270         protected:
00271 
00273             ControlSpacePtr                 controlSpace_;
00274 
00276             StatePropagatorPtr              statePropagator_;
00277 
00279             unsigned int                    minSteps_;
00280 
00282             unsigned int                    maxSteps_;
00283 
00285             DirectedControlSamplerAllocator dcsa_;
00286 
00288             double                          stepSize_;
00289 
00290         };
00291 
00292     }
00293 
00294 }
00295 
00296 #endif
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