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ompl-devel-0.9.5-1.fc14.i686.rpm

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<div class="title">RealVectorControlSpace.cpp</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">*  &quot;AS IS&quot; 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">#include &quot;ompl/control/spaces/RealVectorControlSpace.h&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &quot;ompl/util/Exception.h&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &lt;boost/lexical_cast.hpp&gt;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &lt;cstring&gt;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &lt;limits&gt;</span>
<a name="l00042"></a>00042 
<a name="l00043"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlUniformSampler.html#af059b0c034fc7b8fa7cf63c980bfce2b">00043</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlUniformSampler.html#af059b0c034fc7b8fa7cf63c980bfce2b" title="Sample a control. All other control sampling functions default to this one, unless a user-specified i...">ompl::control::RealVectorControlUniformSampler::sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control)
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045     <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dim = <a class="code" href="classompl_1_1control_1_1ControlSampler.html#a42eb7a87665ead1c77e3c986244bbcf7" title="The control space this sampler operates on.">space_</a>-&gt;<a class="code" href="classompl_1_1control_1_1ControlSpace.html#ae31e947905efef2988e7c3abcb096b30" title="Get the dimension of this control space.">getDimension</a>();
<a name="l00046"></a>00046     <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">base::RealVectorBounds</a> &amp;bounds = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html" title="A control space representing Rn. The distance function is the L2 norm.">RealVectorControlSpace</a>*<span class="keyword">&gt;</span>(<a class="code" href="classompl_1_1control_1_1ControlSampler.html#a42eb7a87665ead1c77e3c986244bbcf7" title="The control space this sampler operates on.">space_</a>)-&gt;getBounds();
<a name="l00047"></a>00047 
<a name="l00048"></a>00048     <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">RealVectorControlSpace::ControlType</a> *rcontrol = <span class="keyword">static_cast&lt;</span><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">RealVectorControlSpace::ControlType</a>*<span class="keyword">&gt;</span>(control);
<a name="l00049"></a>00049     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; dim ; ++i)
<a name="l00050"></a>00050         rcontrol-&gt;<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#a86ad53793fd0661faf0732f1cc5de9bd" title="An array of length n, representing the value of the control.">values</a>[i] = <a class="code" href="classompl_1_1control_1_1ControlSampler.html#af00c73c0f92f0b8169945b557b1ca84a" title="Instance of random number generator.">rng_</a>.<a class="code" href="classompl_1_1RNG.html#a691ddf8d21630c69d4ba3f8b1f8c449f" title="Generate a random real within given bounds: [lower_bound, upper_bound)">uniformReal</a>(bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a36ebebb6a9e116093581afbd07425baa" title="Lower bound.">low</a>[i], bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a06827561804a768d6ee86a20a664153c" title="Upper bound.">high</a>[i]);
<a name="l00051"></a>00051 }
<a name="l00052"></a>00052 
<a name="l00053"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a32231228057f9acaed7a3f46f3052093">00053</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a32231228057f9acaed7a3f46f3052093" title="Perform final setup steps. This function is automatically called by the SpaceInformation.">ompl::control::RealVectorControlSpace::setup</a>(<span class="keywordtype">void</span>)
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055     <a class="code" href="classompl_1_1control_1_1ControlSpace.html#aed37f6c32f3a5378faebc2ff4d764055" title="Perform final setup steps. This function is automatically called by the SpaceInformation.">ControlSpace::setup</a>();
<a name="l00056"></a>00056     bounds_.check();
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058 
<a name="l00059"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#ab21eee94cc69d207ab578b69a423660c">00059</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#ab21eee94cc69d207ab578b69a423660c" title="Set the bounds (min max values for each dimension) for the control.">ompl::control::RealVectorControlSpace::setBounds</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">base::RealVectorBounds</a> &amp;bounds)
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061     bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a233cea07153725208456d27459fc8f92" title="Check if the bounds are valid (same length for low and high, high[i] &gt; low[i]). Throw an exception if...">check</a>();
<a name="l00062"></a>00062     <span class="keywordflow">if</span> (bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a36ebebb6a9e116093581afbd07425baa" title="Lower bound.">low</a>.size() != dimension_)
<a name="l00063"></a>00063         <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">&quot;Bounds do not match dimension of control space: expected dimension &quot;</span> +
<a name="l00064"></a>00064                         boost::lexical_cast&lt;std::string&gt;(dimension_) + <span class="stringliteral">&quot; but got dimension &quot;</span> +
<a name="l00065"></a>00065                         boost::lexical_cast&lt;std::string&gt;(bounds.<a class="code" href="classompl_1_1base_1_1RealVectorBounds.html#a36ebebb6a9e116093581afbd07425baa" title="Lower bound.">low</a>.size()));
<a name="l00066"></a>00066     bounds_ = bounds;
<a name="l00067"></a>00067 }
<a name="l00068"></a>00068 
<a name="l00069"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#aa3867333250717f53618542f344557ba">00069</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#aa3867333250717f53618542f344557ba" title="Get the dimension of this control space.">ompl::control::RealVectorControlSpace::getDimension</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00070"></a>00070 <span class="keyword"></span>{
<a name="l00071"></a>00071     <span class="keywordflow">return</span> dimension_;
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073 
<a name="l00074"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a4ab9e55d9332c2e6609f706ab90e3676">00074</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a4ab9e55d9332c2e6609f706ab90e3676" title="Copy a control to another.">ompl::control::RealVectorControlSpace::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="l00075"></a>00075 <span class="keyword"></span>{
<a name="l00076"></a>00076     memcpy(static_cast&lt;ControlType*&gt;(destination)-&gt;values,
<a name="l00077"></a>00077            static_cast&lt;const ControlType*&gt;(source)-&gt;values, controlBytes_);
<a name="l00078"></a>00078 }
<a name="l00079"></a>00079 
<a name="l00080"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a44f0c2bff20cc1704f4c66a975339340">00080</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a44f0c2bff20cc1704f4c66a975339340" title="Check if two controls are the same.">ompl::control::RealVectorControlSpace::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="l00081"></a>00081 <span class="keyword"></span>{
<a name="l00082"></a>00082     <span class="keyword">const</span> <span class="keywordtype">double</span> *s1 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ControlType</a>*<span class="keyword">&gt;</span>(control1)-&gt;values;
<a name="l00083"></a>00083     <span class="keyword">const</span> <span class="keywordtype">double</span> *s2 = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ControlType</a>*<span class="keyword">&gt;</span>(control2)-&gt;values;
<a name="l00084"></a>00084     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; dimension_ ; ++i)
<a name="l00085"></a>00085     {
<a name="l00086"></a>00086         <span class="keywordtype">double</span> diff = (*s1++) - (*s2++);
<a name="l00087"></a>00087         <span class="keywordflow">if</span> (fabs(diff) &gt; std::numeric_limits&lt;double&gt;::epsilon() * 2.0)
<a name="l00088"></a>00088             <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00089"></a>00089     }
<a name="l00090"></a>00090     <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092 
<a name="l00093"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#ad9d6cdfc86837c785d1ae28c882c5eca">00093</a> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ompl::control::ControlSamplerPtr</a> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#ad9d6cdfc86837c785d1ae28c882c5eca" title="Allocate a control sampler.">ompl::control::RealVectorControlSpace::allocControlSampler</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00094"></a>00094 <span class="keyword"></span>{
<a name="l00095"></a>00095     <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ControlSamplerPtr</a>(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlUniformSampler.html" title="Uniform sampler for the Rn state space.">RealVectorControlUniformSampler</a>(<span class="keyword">this</span>));
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097 
<a name="l00098"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a354fdf75df038f1464c14c20d2844d47">00098</a> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">ompl::control::Control</a>* <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a354fdf75df038f1464c14c20d2844d47" title="Allocate memory for a control.">ompl::control::RealVectorControlSpace::allocControl</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00099"></a>00099 <span class="keyword"></span>{
<a name="l00100"></a>00100     <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ControlType</a> *rcontrol = <span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ControlType</a>();
<a name="l00101"></a>00101     rcontrol-&gt;<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#a86ad53793fd0661faf0732f1cc5de9bd" title="An array of length n, representing the value of the control.">values</a> = <span class="keyword">new</span> <span class="keywordtype">double</span>[dimension_];
<a name="l00102"></a>00102     <span class="keywordflow">return</span> rcontrol;
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104 
<a name="l00105"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a700733ab5a157781fee992511ffd6d91">00105</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a700733ab5a157781fee992511ffd6d91" title="Free the memory of a control.">ompl::control::RealVectorControlSpace::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="l00106"></a>00106 <span class="keyword"></span>{
<a name="l00107"></a>00107     <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ControlType</a> *rcontrol = <span class="keyword">static_cast&lt;</span><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ControlType</a>*<span class="keyword">&gt;</span>(control);
<a name="l00108"></a>00108     <span class="keyword">delete</span>[] rcontrol-&gt;<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#a86ad53793fd0661faf0732f1cc5de9bd" title="An array of length n, representing the value of the control.">values</a>;
<a name="l00109"></a>00109     <span class="keyword">delete</span> rcontrol;
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111 
<a name="l00112"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#aa4d4f0c7d37c7a7118cd2bee1ed4f435">00112</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#aa4d4f0c7d37c7a7118cd2bee1ed4f435" title="Make the control have no effect if it were to be applied to a state for any amount of time...">ompl::control::RealVectorControlSpace::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="l00113"></a>00113 <span class="keyword"></span>{
<a name="l00114"></a>00114     <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ControlType</a> *rcontrol = <span class="keyword">static_cast&lt;</span><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ControlType</a>*<span class="keyword">&gt;</span>(control);
<a name="l00115"></a>00115     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; dimension_ ; ++i)
<a name="l00116"></a>00116     {
<a name="l00117"></a>00117         <span class="keywordflow">if</span> (bounds_.low[i] &lt;= 0.0 &amp;&amp; bounds_.high[i] &gt;= 0.0)
<a name="l00118"></a>00118             rcontrol-&gt;<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#a86ad53793fd0661faf0732f1cc5de9bd" title="An array of length n, representing the value of the control.">values</a>[i] = 0.0;
<a name="l00119"></a>00119         <span class="keywordflow">else</span>
<a name="l00120"></a>00120             rcontrol-&gt;<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#a86ad53793fd0661faf0732f1cc5de9bd" title="An array of length n, representing the value of the control.">values</a>[i] = bounds_.low[i];
<a name="l00121"></a>00121     }
<a name="l00122"></a>00122 }
<a name="l00123"></a>00123 
<a name="l00124"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#ad0404c9dabcb7b26ebfc241855d0b40c">00124</a> <span class="keywordtype">double</span>* <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#ad0404c9dabcb7b26ebfc241855d0b40c" title="Many controls contain a number of double values. This function provides a means to get the memory add...">ompl::control::RealVectorControlSpace::getValueAddressAtIndex</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> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index)<span class="keyword"> const</span>
<a name="l00125"></a>00125 <span class="keyword"></span>{
<a name="l00126"></a>00126     <span class="keywordflow">return</span> index &lt; dimension_ ? static_cast&lt;ControlType*&gt;(control)-&gt;values + index : NULL;
<a name="l00127"></a>00127 }
<a name="l00128"></a>00128 
<a name="l00129"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#ab5ed085564053a3ac9acb4f31eacef65">00129</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#ab5ed085564053a3ac9acb4f31eacef65" title="Print a control to a stream.">ompl::control::RealVectorControlSpace::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 &amp;out)<span class="keyword"> const</span>
<a name="l00130"></a>00130 <span class="keyword"></span>{
<a name="l00131"></a>00131     out &lt;&lt; <span class="stringliteral">&quot;RealVectorControl [&quot;</span>;
<a name="l00132"></a>00132     <span class="keywordflow">if</span> (control)
<a name="l00133"></a>00133     {
<a name="l00134"></a>00134         <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ControlType</a> *rcontrol = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">ControlType</a>*<span class="keyword">&gt;</span>(control);
<a name="l00135"></a>00135         <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; dimension_ ; ++i)
<a name="l00136"></a>00136         {
<a name="l00137"></a>00137             out &lt;&lt; rcontrol-&gt;<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#a86ad53793fd0661faf0732f1cc5de9bd" title="An array of length n, representing the value of the control.">values</a>[i];
<a name="l00138"></a>00138             <span class="keywordflow">if</span> (i + 1 &lt; dimension_)
<a name="l00139"></a>00139                 out &lt;&lt; <span class="charliteral">&#39; &#39;</span>;
<a name="l00140"></a>00140         }
<a name="l00141"></a>00141     }
<a name="l00142"></a>00142     <span class="keywordflow">else</span>
<a name="l00143"></a>00143         out &lt;&lt; <span class="stringliteral">&quot;NULL&quot;</span>;
<a name="l00144"></a>00144     out &lt;&lt; <span class="charliteral">&#39;]&#39;</span> &lt;&lt; std::endl;
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146 
<a name="l00147"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a328ae638e5b1fc2103eaf47231f0bf4d">00147</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a328ae638e5b1fc2103eaf47231f0bf4d" title="Print the settings for this control space to a stream.">ompl::control::RealVectorControlSpace::printSettings</a>(std::ostream &amp;out)<span class="keyword"> const</span>
<a name="l00148"></a>00148 <span class="keyword"></span>{
<a name="l00149"></a>00149     out &lt;&lt; <span class="stringliteral">&quot;Real vector control space &#39;&quot;</span> &lt;&lt; getName() &lt;&lt; <span class="stringliteral">&quot;&#39; with bounds: &quot;</span> &lt;&lt; std::endl;
<a name="l00150"></a>00150     out &lt;&lt; <span class="stringliteral">&quot;  - min: &quot;</span>;
<a name="l00151"></a>00151     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; dimension_ ; ++i)
<a name="l00152"></a>00152         out &lt;&lt; bounds_.low[i] &lt;&lt; <span class="stringliteral">&quot; &quot;</span>;
<a name="l00153"></a>00153     out &lt;&lt; std::endl;
<a name="l00154"></a>00154     out &lt;&lt; <span class="stringliteral">&quot;  - max: &quot;</span>;
<a name="l00155"></a>00155     for (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; dimension_ ; ++i)
<a name="l00156"></a>00156         out &lt;&lt; bounds_.high[i] &lt;&lt; <span class="stringliteral">&quot; &quot;</span>;
<a name="l00157"></a>00157     out &lt;&lt; std::endl;
<a name="l00158"></a>00158 }
</pre></div></div>
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