- The Open Motion Planning Library
-
A control space representing the space of applicable controls. More...
#include <ControlSpace.h>
Public Member Functions | |
| ControlSpace (const base::StateSpacePtr &stateSpace) | |
| Construct a control space, given the state space. | |
| template<class T > | |
| T * | as (void) |
| Cast this instance to a desired type. | |
| template<class T > | |
| const T * | as (void) const |
| Cast this instance to a desired type. | |
| const std::string & | getName (void) const |
| Get the name of the control space. | |
| void | setName (const std::string &name) |
| Set the name of the control space. | |
| const base::StateSpacePtr & | getStateSpace (void) const |
| Return the state space this control space depends on. | |
| virtual unsigned int | getDimension (void) const =0 |
| Get the dimension of this control space. | |
| virtual Control * | allocControl (void) const =0 |
| Allocate memory for a control. | |
| virtual void | freeControl (Control *control) const =0 |
| Free the memory of a control. | |
| virtual void | copyControl (Control *destination, const Control *source) const =0 |
| Copy a control to another. | |
| virtual bool | equalControls (const Control *control1, const Control *control2) const =0 |
| Check if two controls are the same. | |
| virtual void | nullControl (Control *control) const =0 |
| Make the control have no effect if it were to be applied to a state for any amount of time. | |
| virtual ControlSamplerPtr | allocControlSampler (void) const =0 |
| Allocate a control sampler. | |
| virtual double * | getValueAddressAtIndex (Control *control, const 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 NULL. | |
| 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. | |
| virtual void | setup (void) |
| Perform final setup steps. This function is automatically called by the SpaceInformation. | |
Protected Attributes | |
| base::StateSpacePtr | stateSpace_ |
| The state space controls can be applied to. | |
A control space representing the space of applicable controls.
Definition at line 63 of file ControlSpace.h.
| const T* ompl::control::ControlSpace::as | ( | void | ) | const [inline] |
Cast this instance to a desired type.
Make sure the type we are casting to is indeed a control space
Definition at line 84 of file ControlSpace.h.
| T* ompl::control::ControlSpace::as | ( | void | ) | [inline] |
Cast this instance to a desired type.
Make sure the type we are casting to is indeed a control space
Definition at line 74 of file ControlSpace.h.