ompl/control/spaces/RealVectorControlSpace.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
00038 #define OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
00039 
00040 #include "ompl/control/ControlSpace.h"
00041 #include "ompl/base/spaces/RealVectorBounds.h"
00042 #include <vector>
00043 
00044 namespace ompl
00045 {
00046     namespace control
00047     {
00048 
00050         class RealVectorControlUniformSampler : public ControlSampler
00051         {
00052         public:
00053 
00055             RealVectorControlUniformSampler(const ControlSpace *space) : ControlSampler(space)
00056             {
00057             }
00058 
00059             virtual void sample(Control *control);
00060         };
00061 
00063         class RealVectorControlSpace : public ControlSpace
00064         {
00065         public:
00066 
00068             class ControlType : public Control
00069             {
00070             public:
00071 
00074                 double operator[](unsigned int i) const
00075                 {
00076                     return values[i];
00077                 }
00078 
00081                 double& operator[](unsigned int i)
00082                 {
00083                     return values[i];
00084                 }
00085 
00087                 double *values;
00088             };
00089 
00091             RealVectorControlSpace(const base::StateSpacePtr &stateSpace, unsigned int dim) :
00092                 ControlSpace(stateSpace), dimension_(dim), bounds_(dim), controlBytes_(dim * sizeof(double))
00093             {
00094                 setName("RealVector" + getName());
00095                 type_ = CONTROL_SPACE_REAL_VECTOR;
00096             }
00097 
00098             virtual ~RealVectorControlSpace()
00099             {
00100             }
00101 
00103             void setBounds(const base::RealVectorBounds &bounds);
00104 
00106             const base::RealVectorBounds& getBounds() const
00107             {
00108                 return bounds_;
00109             }
00110 
00111             virtual unsigned int getDimension() const;
00112 
00113             virtual void copyControl(Control *destination, const Control *source) const;
00114 
00115             virtual bool equalControls(const Control *control1, const Control *control2) const;
00116 
00117             virtual ControlSamplerPtr allocDefaultControlSampler() const;
00118 
00119             virtual Control* allocControl() const;
00120 
00121             virtual void freeControl(Control *control) const;
00122 
00123             virtual void nullControl(Control *control) const;
00124 
00125             virtual void printControl(const Control *control, std::ostream &out) const;
00126 
00127             virtual double* getValueAddressAtIndex(Control *control, const unsigned int index) const;
00128 
00129             virtual void printSettings(std::ostream &out) const;
00130 
00131             virtual void setup();
00132 
00134             virtual unsigned int getSerializationLength() const;
00135 
00137             virtual void serialize(void *serialization, const Control *ctrl) const;
00138 
00140             virtual void deserialize(Control *ctrl, const void *serialization) const;
00141 
00142         protected:
00143 
00145             unsigned int           dimension_;
00146 
00148             base::RealVectorBounds bounds_;
00149 
00150         private:
00151             std::size_t            controlBytes_;
00152         };
00153     }
00154 }
00155 
00156 #endif
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