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src
ompl
control
spaces
RealVectorControlSpace.h
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2010, Rice University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Rice University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ioan Sucan */
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#ifndef OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
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#define OMPL_CONTROL_SPACES_REAL_VECTOR_CONTROL_SPACE_
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#include "ompl/control/ControlSpace.h"
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#include "ompl/base/spaces/RealVectorBounds.h"
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#include <vector>
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namespace
ompl
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{
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namespace
control
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{
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class
RealVectorControlUniformSampler
:
public
ControlSampler
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{
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public
:
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RealVectorControlUniformSampler
(
const
ControlSpace
*space) :
ControlSampler
(space)
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{
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}
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virtual
void
sample
(
Control
*control);
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};
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class
RealVectorControlSpace
:
public
ControlSpace
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{
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public
:
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class
ControlType
:
public
Control
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{
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public
:
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double
operator[]
(
unsigned
int
i)
const
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{
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return
values
[i];
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}
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double
&
operator[]
(
unsigned
int
i)
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{
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return
values
[i];
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}
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double
*
values
;
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};
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RealVectorControlSpace
(
const
base::StateSpacePtr
&stateSpace,
unsigned
int
dim) :
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ControlSpace
(stateSpace),
dimension_
(dim),
bounds_
(dim), controlBytes_(dim * sizeof(double))
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{
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setName
(
"RealVector"
+
getName
());
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type_
=
CONTROL_SPACE_REAL_VECTOR
;
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}
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virtual
~
RealVectorControlSpace
(
void
)
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{
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}
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void
setBounds
(
const
base::RealVectorBounds
&bounds);
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const
base::RealVectorBounds
&
getBounds
(
void
)
const
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{
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return
bounds_
;
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}
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virtual
unsigned
int
getDimension
(
void
)
const
;
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virtual
void
copyControl
(
Control
*destination,
const
Control
*source)
const
;
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virtual
bool
equalControls
(
const
Control
*control1,
const
Control
*control2)
const
;
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virtual
ControlSamplerPtr
allocDefaultControlSampler
(
void
)
const
;
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virtual
Control
*
allocControl
(
void
)
const
;
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virtual
void
freeControl
(
Control
*control)
const
;
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virtual
void
nullControl
(
Control
*control)
const
;
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virtual
void
printControl
(
const
Control
*control, std::ostream &out)
const
;
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virtual
double
*
getValueAddressAtIndex
(
Control
*control,
const
unsigned
int
index)
const
;
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virtual
void
printSettings
(std::ostream &out)
const
;
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virtual
void
setup
(
void
);
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virtual
unsigned
int
getSerializationLength
(
void
)
const
;
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virtual
void
serialize
(
void
*serialization,
const
Control
*ctrl)
const
;
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virtual
void
deserialize
(
Control
*ctrl,
const
void
*serialization)
const
;
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protected
:
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unsigned
int
dimension_
;
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base::RealVectorBounds
bounds_
;
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private
:
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std::size_t controlBytes_;
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};
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}
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}
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#endif