ompl::control::DiscreteControlSpace Class Reference

A space representing discrete controls; i.e. there are a small number of discrete controls the system can react to. Controls are represented as integers [lowerBound, upperBound], where lowerBound and upperBound are inclusive. More...

#include <ompl/control/spaces/DiscreteControlSpace.h>

Inheritance diagram for ompl::control::DiscreteControlSpace:

List of all members.

Classes

class  ControlType
 The definition of a discrete control. More...

Public Member Functions

 DiscreteControlSpace (const base::StateSpacePtr &stateSpace, int lowerBound, int upperBound)
 Construct a discrete space in wich controls can take values in the set [lowerBound, upperBound].
virtual unsigned int getDimension () const
 Get the dimension of this control space.
virtual void copyControl (Control *destination, const Control *source) const
 Copy a control to another.
virtual bool equalControls (const Control *control1, const Control *control2) const
 Check if two controls are the same.
virtual ControlSamplerPtr allocDefaultControlSampler () const
 Allocate the default control sampler.
virtual ControlallocControl () const
 Allocate memory for a control.
virtual void freeControl (Control *control) const
 Free the memory of a control.
virtual void nullControl (Control *control) const
 This sets the control value to lowerBound_.
virtual void printControl (const Control *control, std::ostream &out) const
 Print a control to a stream.
virtual void printSettings (std::ostream &out) const
 Print the settings for this control space to a stream.
unsigned int getControlCount () const
 Returns the number of controls possible.
int getLowerBound () const
 Returns the lowest possible control value.
int getUpperBound () const
 Returns the highest possible control value.
void setBounds (int lowerBound, int upperBound)
 Set the bounds for the states in this space (the states will be in the set [lowerBound, upperBound].
virtual void setup ()
 Perform final setup steps. This function is automatically called by the SpaceInformation.
virtual unsigned int getSerializationLength () const
 Returns the serialization size for a single control in this space.
virtual void serialize (void *serialization, const Control *ctrl) const
 Serializes the given control into the serialization buffer.
virtual void deserialize (Control *ctrl, const void *serialization) const
 Deserializes a control from the serialization buffer.

Protected Attributes

int lowerBound_
 The lowest integer state.
int upperBound_
 The highest integer state.

Detailed Description

A space representing discrete controls; i.e. there are a small number of discrete controls the system can react to. Controls are represented as integers [lowerBound, upperBound], where lowerBound and upperBound are inclusive.

Definition at line 64 of file DiscreteControlSpace.h.


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