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:

## 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].

unsigned int getDimension () const override
Get the dimension of this control space.

void copyControl (Control *destination, const Control *source) const override
Copy a control to another.

bool equalControls (const Control *control1, const Control *control2) const override
Check if two controls are the same.

ControlSamplerPtr allocDefaultControlSampler () const override
Allocate the default control sampler.

ControlallocControl () const override
Allocate memory for a control.

void freeControl (Control *control) const override
Free the memory of a control.

void nullControl (Control *control) const override
This sets the control value to lowerBound_.

void printControl (const Control *control, std::ostream &out) const override
Print a control to a stream.

void printSettings (std::ostream &out) const override
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].

void setup () override
Perform final setup steps. This function is automatically called by the SpaceInformation.

unsigned int getSerializationLength () const override
Returns the serialization size for a single control in this space.

void serialize (void *serialization, const Control *ctrl) const override
Serializes the given control into the serialization buffer.

void deserialize (Control *ctrl, const void *serialization) const override
Deserializes a control from the serialization buffer.

Public Member Functions inherited from ompl::control::ControlSpace
ControlSpace (const ControlSpace &)=delete

ControlSpaceoperator= (const ControlSpace &)=delete

ControlSpace (base::StateSpacePtr stateSpace)
Construct a control space, given the state space.

template<class T >
T * as ()
Cast this instance to a desired type. More...

template<class T >
const T * as () const
Cast this instance to a desired type. More...

const std::string & getName () const
Get the name of the control space.

void setName (const std::string &name)
Set the name of the control space.

int getType () const
Get the type of the control space. The type can be used to verify whether two space instances are of the same type.

const base::StateSpacePtr & getStateSpace () const
Return the state space this control space depends on.

virtual ControlSamplerPtr allocControlSampler () const
Allocate an instance of the control sampler for this space. This sampler will be allocated with the sampler allocator that was previously specified by setControlSamplerAllocator() or, if no sampler allocator was specified, allocDefaultControlSampler() is called.

void setControlSamplerAllocator (const ControlSamplerAllocator &csa)
Set the sampler allocator to use.

void clearControlSamplerAllocator ()
Clear the control sampler allocator (reset to default)

virtual double * getValueAddressAtIndex (Control *control, unsigned int index) const
Many controls contain a number of double values. This function provides a means to get the memory address of a double value from a control control located at position index. The first double value is returned for index = 0. If index is too large (does not point to any double values in the control), the return value is nullptr.

void computeSignature (std::vector< int > &signature) const
Compute an array of ints that uniquely identifies the structure of the control space. The first element of the signature is the number of integers that follow.

virtual bool isCompound () const
Check if the control space is compound.

## Protected Attributes

int lowerBound_
The lowest integer state.

int upperBound_
The highest integer state.

Protected Attributes inherited from ompl::control::ControlSpace
int type_
A type assigned for this control space.

base::StateSpacePtr stateSpace_
The state space controls can be applied to.

ControlSamplerAllocator csa_
An optional control sampler allocator.

## 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 123 of file DiscreteControlSpace.h.

The documentation for this class was generated from the following files: