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

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<div class="title">RealVectorControlSpace.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">*  &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">#ifndef OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/control/ControlSpace.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/base/spaces/RealVectorBounds.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00043"></a>00043 
<a name="l00044"></a>00044 <span class="keyword">namespace </span>ompl
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046     <span class="keyword">namespace </span>control
<a name="l00047"></a>00047     {
<a name="l00048"></a>00048 
<a name="l00050"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlUniformSampler.html">00050</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1RealVectorControlUniformSampler.html" title="Uniform sampler for the Rn state space.">RealVectorControlUniformSampler</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1control_1_1ControlSampler.html" title="Abstract definition of a control sampler. Motion planners that need to sample controls will call func...">ControlSampler</a>
<a name="l00051"></a>00051         {
<a name="l00052"></a>00052         <span class="keyword">public</span>:
<a name="l00053"></a>00053 
<a name="l00055"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlUniformSampler.html#a048a5763d24a5bddbf7ad4692ff1b17a">00055</a>             <a class="code" href="classompl_1_1control_1_1RealVectorControlUniformSampler.html#a048a5763d24a5bddbf7ad4692ff1b17a" title="Constructor.">RealVectorControlUniformSampler</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ControlSpace</a> *space) : <a class="code" href="classompl_1_1control_1_1ControlSampler.html" title="Abstract definition of a control sampler. Motion planners that need to sample controls will call func...">ControlSampler</a>(space)
<a name="l00056"></a>00056             {
<a name="l00057"></a>00057             }
<a name="l00058"></a>00058 
<a name="l00059"></a>00059             <span class="keyword">virtual</span> <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...">sample</a>(<a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *control);
<a name="l00060"></a>00060         };
<a name="l00061"></a>00061 
<a name="l00063"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html">00063</a>         <span class="keyword">class </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">public</span> <a class="code" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ControlSpace</a>
<a name="l00064"></a>00064         {
<a name="l00065"></a>00065         <span class="keyword">public</span>:
<a name="l00066"></a>00066 
<a name="l00068"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html">00068</a>             <span class="keyword">class </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">public</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>
<a name="l00069"></a>00069             {
<a name="l00070"></a>00070             <span class="keyword">public</span>:
<a name="l00071"></a>00071 
<a name="l00074"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#addeef667a043cfd3063d36b505e1f32f">00074</a>                 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#addeef667a043cfd3063d36b505e1f32f" title="Access element i of values. This does not check whether the index is within bounds.">operator[]</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i)<span class="keyword"> const</span>
<a name="l00075"></a>00075 <span class="keyword">                </span>{
<a name="l00076"></a>00076                     <span class="keywordflow">return</span> <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="l00077"></a>00077                 }
<a name="l00078"></a>00078 
<a name="l00081"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#a8a63cc6084f77a7a531bf52981f541ba">00081</a>                 <span class="keywordtype">double</span>&amp; <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#addeef667a043cfd3063d36b505e1f32f" title="Access element i of values. This does not check whether the index is within bounds.">operator[]</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i)
<a name="l00082"></a>00082                 {
<a name="l00083"></a>00083                     <span class="keywordflow">return</span> <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="l00084"></a>00084                 }
<a name="l00085"></a>00085 
<a name="l00087"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#a86ad53793fd0661faf0732f1cc5de9bd">00087</a>                 <span class="keywordtype">double</span> *<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="l00088"></a>00088             };
<a name="l00089"></a>00089 
<a name="l00091"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a0bacd31455e2745eb5efd291210482a8">00091</a>             <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a0bacd31455e2745eb5efd291210482a8" title="Constructor takes the state space the controls correspond to and the dimension of the space of contro...">RealVectorControlSpace</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> &amp;stateSpace, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dim) :
<a name="l00092"></a>00092                 <a class="code" href="classompl_1_1control_1_1ControlSpace.html" title="A control space representing the space of applicable controls.">ControlSpace</a>(stateSpace), <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a176e9568fbe1c7fd557e8890360d7be9" title="The dimension of the state space.">dimension_</a>(dim), <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#aa2f518294c75aab253d63237605bf9ff" title="The bounds on controls.">bounds_</a>(dim), controlBytes_(dim * sizeof(double))
<a name="l00093"></a>00093             {
<a name="l00094"></a>00094                 <a class="code" href="classompl_1_1control_1_1ControlSpace.html#ae7138a1a3dd3b2dba3e222538707e15d" title="Set the name of the control space.">setName</a>(<span class="stringliteral">&quot;RealVector&quot;</span> + <a class="code" href="classompl_1_1control_1_1ControlSpace.html#addb736f7c33b83c4d114d631910b38ad" title="Get the name of the control space.">getName</a>());
<a name="l00095"></a>00095             }
<a name="l00096"></a>00096 
<a name="l00097"></a>00097             <span class="keyword">virtual</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="keywordtype">void</span>)
<a name="l00098"></a>00098             {
<a name="l00099"></a>00099             }
<a name="l00100"></a>00100 
<a name="l00102"></a>00102             <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.">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="l00103"></a>00103 
<a name="l00105"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a1d702054b347a53b7d0565baaf62d1e1">00105</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; <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a1d702054b347a53b7d0565baaf62d1e1" title="Get the bounds (min max values for each dimension) for the control.">getBounds</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00106"></a>00106 <span class="keyword">            </span>{
<a name="l00107"></a>00107                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#aa2f518294c75aab253d63237605bf9ff" title="The bounds on controls.">bounds_</a>;
<a name="l00108"></a>00108             }
<a name="l00109"></a>00109 
<a name="l00110"></a>00110             <span class="keyword">virtual</span> <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.">getDimension</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00111"></a>00111 
<a name="l00112"></a>00112             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a4ab9e55d9332c2e6609f706ab90e3676" 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="l00113"></a>00113 
<a name="l00114"></a>00114             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a44f0c2bff20cc1704f4c66a975339340" 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="l00115"></a>00115 
<a name="l00116"></a>00116             <span class="keyword">virtual</span> <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_1RealVectorControlSpace.html#ad9d6cdfc86837c785d1ae28c882c5eca" title="Allocate a control sampler.">allocControlSampler</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00117"></a>00117 
<a name="l00118"></a>00118             <span class="keyword">virtual</span> <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_1RealVectorControlSpace.html#a354fdf75df038f1464c14c20d2844d47" title="Allocate memory for a control.">allocControl</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00119"></a>00119 
<a name="l00120"></a>00120             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a700733ab5a157781fee992511ffd6d91" 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="l00121"></a>00121 
<a name="l00122"></a>00122             <span class="keyword">virtual</span> <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...">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="l00123"></a>00123 
<a name="l00124"></a>00124             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#ab5ed085564053a3ac9acb4f31eacef65" 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 &amp;out) <span class="keyword">const</span>;
<a name="l00125"></a>00125 
<a name="l00126"></a>00126             <span class="keyword">virtual</span> <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...">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="l00127"></a>00127 
<a name="l00128"></a>00128             <span class="keyword">virtual</span> <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.">printSettings</a>(std::ostream &amp;out) <span class="keyword">const</span>;
<a name="l00129"></a>00129 
<a name="l00130"></a>00130             <span class="keyword">virtual</span> <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.">setup</a>(<span class="keywordtype">void</span>);
<a name="l00131"></a>00131 
<a name="l00132"></a>00132         <span class="keyword">protected</span>:
<a name="l00133"></a>00133 
<a name="l00135"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a176e9568fbe1c7fd557e8890360d7be9">00135</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>           <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#a176e9568fbe1c7fd557e8890360d7be9" title="The dimension of the state space.">dimension_</a>;
<a name="l00136"></a>00136 
<a name="l00138"></a><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#aa2f518294c75aab253d63237605bf9ff">00138</a>             <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">base::RealVectorBounds</a> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html#aa2f518294c75aab253d63237605bf9ff" title="The bounds on controls.">bounds_</a>;
<a name="l00139"></a>00139 
<a name="l00140"></a>00140         <span class="keyword">private</span>:
<a name="l00141"></a>00141             std::size_t            controlBytes_;
<a name="l00142"></a>00142         };
<a name="l00143"></a>00143     }
<a name="l00144"></a>00144 }
<a name="l00145"></a>00145 
<a name="l00146"></a>00146 <span class="preprocessor">#endif</span>
</pre></div></div>
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