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<div class="title">SpaceInformation.h</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_CONTROL_SPACE_INFORMATION_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_CONTROL_SPACE_INFORMATION_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/base/SpaceInformation.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/control/ControlSpace.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "ompl/control/ControlSampler.h"</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include "ompl/control/StatePropagator.h"</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include "ompl/control/Control.h"</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include "ompl/util/ClassForward.h"</span>
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keyword">namespace </span>ompl
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049
<a name="l00052"></a>00052 <span class="keyword">namespace </span>control
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054
<a name="l00056"></a>00056 <a class="code" href="namespaceompl_1_1control.html#ae088c975568ca449b3d53f626c491513" title="Forward declaration of ompl::control::ControlSpace.">ClassForward</a>(SpaceInformation);
<a name="l00057"></a>00057
<a name="l00063"></a><a class="code" href="namespaceompl_1_1control.html#acce331fefa24a5f76ce796c391090068">00063</a> <span class="keyword">typedef</span> boost::function4<void, const base::State*, const Control*, const double, base::State*> <a class="code" href="namespaceompl_1_1control.html#acce331fefa24a5f76ce796c391090068" title="A function that achieves state propagation.">StatePropagatorFn</a>;
<a name="l00064"></a>00064
<a name="l00066"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html">00066</a> <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">SpaceInformation</a> : <span class="keyword">public</span> base::<a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">SpaceInformation</a>
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 <span class="keyword">public</span>:
<a name="l00069"></a>00069
<a name="l00071"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a5576b718c091e38f3146b0fd5bd626e9">00071</a> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a5576b718c091e38f3146b0fd5bd626e9" title="Constructor. Sets the instance of the state and control spaces to plan with.">SpaceInformation</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">base::StateSpacePtr</a> &stateSpace, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ControlSpacePtr</a> &controlSpace) :
<a name="l00072"></a>00072 base::<a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">SpaceInformation</a>(stateSpace), <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>(controlSpace),
<a name="l00073"></a>00073 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3f6e0db4e2931d756e134e7c7cdbb7c4" title="The minimum number of steps to apply a control for.">minSteps_</a>(0), <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ac07df9763e12abc1d0a0a1826076b2c2" title="The maximum number of steps to apply a control for.">maxSteps_</a>(0), <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aee74d445451a7229524f76c0ad2b0ef7" title="The actual duration of each step.">stepSize_</a>(0.0)
<a name="l00074"></a>00074 {
<a name="l00075"></a>00075 }
<a name="l00076"></a>00076
<a name="l00077"></a>00077 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">SpaceInformation</a>(<span class="keywordtype">void</span>)
<a name="l00078"></a>00078 {
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080
<a name="l00082"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a1889ce8c8f3bcb72b0d42233c060a24c">00082</a> <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ControlSpacePtr</a>& <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a1889ce8c8f3bcb72b0d42233c060a24c" title="Get the control space.">getControlSpace</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00083"></a>00083 <span class="keyword"> </span>{
<a name="l00084"></a>00084 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>;
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086
<a name="l00091"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a1d95628bb8142809447cdb294abc0e14">00091</a> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a1d95628bb8142809447cdb294abc0e14" title="Allocate memory for a control.">allocControl</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00092"></a>00092 <span class="keyword"> </span>{
<a name="l00093"></a>00093 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->allocControl();
<a name="l00094"></a>00094 }
<a name="l00095"></a>00095
<a name="l00097"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a4fd67c06599f1b1968c16dd59215ec2f">00097</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a4fd67c06599f1b1968c16dd59215ec2f" title="Free the memory of a control.">freeControl</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control)<span class="keyword"> const</span>
<a name="l00098"></a>00098 <span class="keyword"> </span>{
<a name="l00099"></a>00099 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->freeControl(control);
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101
<a name="l00103"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ae1b6da74f15ec7514424461faec4fea8">00103</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ae1b6da74f15ec7514424461faec4fea8" title="Copy a control to another.">copyControl</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *destination, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *source)<span class="keyword"> const</span>
<a name="l00104"></a>00104 <span class="keyword"> </span>{
<a name="l00105"></a>00105 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->copyControl(destination, source);
<a name="l00106"></a>00106 }
<a name="l00107"></a>00107
<a name="l00109"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a6d3fe11e070f517b8f4e6ff35df826b1">00109</a> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a6d3fe11e070f517b8f4e6ff35df826b1" title="Clone a control.">cloneControl</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *source)<span class="keyword"> const</span>
<a name="l00110"></a>00110 <span class="keyword"> </span>{
<a name="l00111"></a>00111 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *copy = <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->allocControl();
<a name="l00112"></a>00112 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->copyControl(copy, source);
<a name="l00113"></a>00113 <span class="keywordflow">return</span> copy;
<a name="l00114"></a>00114 }
<a name="l00115"></a>00115
<a name="l00122"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a5a3ab67457a94b8076c3d4c30a0c556a">00122</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a5a3ab67457a94b8076c3d4c30a0c556a" title="Print a control to a stream.">printControl</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control, std::ostream &out = std::cout)<span class="keyword"> const</span>
<a name="l00123"></a>00123 <span class="keyword"> </span>{
<a name="l00124"></a>00124 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->printControl(control, out);
<a name="l00125"></a>00125 }
<a name="l00126"></a>00126
<a name="l00128"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a1c4d6d9af45d62c1e4c59dcb7a9268d9">00128</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a1c4d6d9af45d62c1e4c59dcb7a9268d9" title="Check if two controls are the same.">equalControls</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control1, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control2)<span class="keyword"> const</span>
<a name="l00129"></a>00129 <span class="keyword"> </span>{
<a name="l00130"></a>00130 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->equalControls(control1, control2);
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00134"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aef270014791c0684dc5f8a201ab36d99">00134</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aef270014791c0684dc5f8a201ab36d99" title="Make the control have no effect if it were to be applied to a state for any amount of time...">nullControl</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control)<span class="keyword"> const</span>
<a name="l00135"></a>00135 <span class="keyword"> </span>{
<a name="l00136"></a>00136 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->nullControl(control);
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138
<a name="l00145"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#acbeaa674070b0f3b66e9d40c6fc5ea5b">00145</a> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ControlSamplerPtr</a> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#acbeaa674070b0f3b66e9d40c6fc5ea5b" title="Allocate a control sampler.">allocControlSampler</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00146"></a>00146 <span class="keyword"> </span>{
<a name="l00147"></a>00147 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>->allocControlSampler();
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149
<a name="l00151"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#add99716475bc660f87e1e459c0e50e27">00151</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#add99716475bc660f87e1e459c0e50e27" title="Set the minimum and maximum number of steps a control is propagated for.">setMinMaxControlDuration</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> minSteps, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps)
<a name="l00152"></a>00152 {
<a name="l00153"></a>00153 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3f6e0db4e2931d756e134e7c7cdbb7c4" title="The minimum number of steps to apply a control for.">minSteps_</a> = minSteps;
<a name="l00154"></a>00154 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ac07df9763e12abc1d0a0a1826076b2c2" title="The maximum number of steps to apply a control for.">maxSteps_</a> = maxSteps;
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156
<a name="l00158"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a70e51fddc57973d6b6398111d7e1dae6">00158</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a70e51fddc57973d6b6398111d7e1dae6" title="Get the minimum number of steps a control is propagated for.">getMinControlDuration</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00159"></a>00159 <span class="keyword"> </span>{
<a name="l00160"></a>00160 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3f6e0db4e2931d756e134e7c7cdbb7c4" title="The minimum number of steps to apply a control for.">minSteps_</a>;
<a name="l00161"></a>00161 }
<a name="l00162"></a>00162
<a name="l00164"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a6386fc1b88bcd6fae6c61bcdd26522d2">00164</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a6386fc1b88bcd6fae6c61bcdd26522d2" title="Get the maximum number of steps a control is propagated for.">getMaxControlDuration</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00165"></a>00165 <span class="keyword"> </span>{
<a name="l00166"></a>00166 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ac07df9763e12abc1d0a0a1826076b2c2" title="The maximum number of steps to apply a control for.">maxSteps_</a>;
<a name="l00167"></a>00167 }
<a name="l00174"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a9b95f0292aae9c329d3c52005bbddef8">00174</a> <span class="keyword">const</span> StatePropagatorPtr& <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a9b95f0292aae9c329d3c52005bbddef8" title="Get the instance of StatePropagator that performs state propagation.">getStatePropagator</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00175"></a>00175 <span class="keyword"> </span>{
<a name="l00176"></a>00176 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#adece5657085df810c3f4383b3ea89120" title="The state propagator used to model the motion of the system being planned for.">statePropagator_</a>;
<a name="l00177"></a>00177 }
<a name="l00178"></a>00178
<a name="l00180"></a>00180 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a701c9be56b69d156708f3f05aa580389" title="Set the function that performs state propagation.">setStatePropagator</a>(<span class="keyword">const</span> <a class="code" href="namespaceompl_1_1control.html#acce331fefa24a5f76ce796c391090068" title="A function that achieves state propagation.">StatePropagatorFn</a> &fn);
<a name="l00181"></a>00181
<a name="l00183"></a>00183 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a701c9be56b69d156708f3f05aa580389" title="Set the function that performs state propagation.">setStatePropagator</a>(<span class="keyword">const</span> StatePropagatorPtr &sp);
<a name="l00184"></a>00184
<a name="l00187"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a88a07cf97a3faca60e1b60bf58079cef">00187</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a88a07cf97a3faca60e1b60bf58079cef" title="When controls are applied to states, they are applied for a time duration that is an integer multiple...">setPropagationStepSize</a>(<span class="keywordtype">double</span> stepSize)
<a name="l00188"></a>00188 {
<a name="l00189"></a>00189 <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aee74d445451a7229524f76c0ad2b0ef7" title="The actual duration of each step.">stepSize_</a> = stepSize;
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191
<a name="l00193"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa97e61146506dcc7e4a741aa12aa4a24">00193</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa97e61146506dcc7e4a741aa12aa4a24" title="Propagation is performed at integer multiples of a specified step size. This function returns the val...">getPropagationStepSize</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00194"></a>00194 <span class="keyword"> </span>{
<a name="l00195"></a>00195 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aee74d445451a7229524f76c0ad2b0ef7" title="The actual duration of each step.">stepSize_</a>;
<a name="l00196"></a>00196 }
<a name="l00207"></a>00207 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aaa5d0c18ae3453704bff0bcd7c840094" title="Propagate the model of the system forward, starting a a given state, with a given control...">propagate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* control, <span class="keywordtype">int</span> steps, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *result) <span class="keyword">const</span>;
<a name="l00208"></a>00208
<a name="l00213"></a>00213 <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a75e844309eab68866485fc41d942e496" title="Some systems can only propagate forward in time (i.e., the steps argument for the propagate() functio...">canPropagateBackward</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00214"></a>00214
<a name="l00222"></a>00222 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a62706721769680c1aafa41aa368406c7" title="Propagate the model of the system forward, starting at a given state, with a given control...">propagateWhileValid</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* control, <span class="keywordtype">int</span> steps, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *result) <span class="keyword">const</span>;
<a name="l00223"></a>00223
<a name="l00232"></a>00232 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aaa5d0c18ae3453704bff0bcd7c840094" title="Propagate the model of the system forward, starting a a given state, with a given control...">propagate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* control, <span class="keywordtype">int</span> steps, std::vector<base::State*> &result, <span class="keywordtype">bool</span> alloc) <span class="keyword">const</span>;
<a name="l00233"></a>00233
<a name="l00246"></a>00246 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a62706721769680c1aafa41aa368406c7" title="Propagate the model of the system forward, starting at a given state, with a given control...">propagateWhileValid</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>* control, <span class="keywordtype">int</span> steps, std::vector<base::State*> &result, <span class="keywordtype">bool</span> alloc) <span class="keyword">const</span>;
<a name="l00247"></a>00247
<a name="l00251"></a>00251 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3d755d5768314b1b0e3a14fc518ddc74" title="Print information about the current instance of the state space.">printSettings</a>(std::ostream &out = std::cout) <span class="keyword">const</span>;
<a name="l00252"></a>00252
<a name="l00254"></a>00254 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aa83596fa5f602e87ae7f0f82a3602415" title="Perform additional setup tasks (run once, before use)">setup</a>(<span class="keywordtype">void</span>);
<a name="l00255"></a>00255
<a name="l00256"></a>00256 <span class="keyword">protected</span>:
<a name="l00257"></a>00257
<a name="l00259"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7">00259</a> <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">ControlSpacePtr</a> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a8c16336c760f8dc8ce1788b26597e4b7" title="The control space describing the space of controls applicable to states in the state space...">controlSpace_</a>;
<a name="l00260"></a>00260
<a name="l00262"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#adece5657085df810c3f4383b3ea89120">00262</a> StatePropagatorPtr <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#adece5657085df810c3f4383b3ea89120" title="The state propagator used to model the motion of the system being planned for.">statePropagator_</a>;
<a name="l00263"></a>00263
<a name="l00265"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3f6e0db4e2931d756e134e7c7cdbb7c4">00265</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3f6e0db4e2931d756e134e7c7cdbb7c4" title="The minimum number of steps to apply a control for.">minSteps_</a>;
<a name="l00266"></a>00266
<a name="l00268"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ac07df9763e12abc1d0a0a1826076b2c2">00268</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#ac07df9763e12abc1d0a0a1826076b2c2" title="The maximum number of steps to apply a control for.">maxSteps_</a>;
<a name="l00269"></a>00269
<a name="l00271"></a><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aee74d445451a7229524f76c0ad2b0ef7">00271</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html#aee74d445451a7229524f76c0ad2b0ef7" title="The actual duration of each step.">stepSize_</a>;
<a name="l00272"></a>00272
<a name="l00273"></a>00273 };
<a name="l00274"></a>00274
<a name="l00275"></a>00275 }
<a name="l00276"></a>00276
<a name="l00277"></a>00277 }
<a name="l00278"></a>00278
<a name="l00279"></a>00279 <span class="preprocessor">#endif</span>
</pre></div></div>
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<a href="http://www.rice.edu">Rice University</a><br>
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