Loading...
Searching...
No Matches
DiscreteControlSpace.cpp
1/*********************************************************************
2* Software License Agreement (BSD License)
3*
4* Copyright (c) 2012, Willow Garage
5* All rights reserved.
6*
7* Redistribution and use in source and binary forms, with or without
8* modification, are permitted provided that the following conditions
9* are met:
10*
11* * Redistributions of source code must retain the above copyright
12* notice, this list of conditions and the following disclaimer.
13* * Redistributions in binary form must reproduce the above
14* copyright notice, this list of conditions and the following
15* disclaimer in the documentation and/or other materials provided
16* with the distribution.
17* * Neither the name of the Willow Garage nor the names of its
18* contributors may be used to endorse or promote products derived
19* from this software without specific prior written permission.
20*
21* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32* POSSIBILITY OF SUCH DAMAGE.
33*********************************************************************/
34
35/* Author: Ioan Sucan */
36
37#include "ompl/control/spaces/DiscreteControlSpace.h"
38#include "ompl/util/Exception.h"
39
45
47{
48 return 1;
49}
50
52{
53 destination->as<ControlType>()->value = source->as<ControlType>()->value;
54}
55
56bool ompl::control::DiscreteControlSpace::equalControls(const Control *control1, const Control *control2) const
57{
58 return control1->as<ControlType>()->value == control2->as<ControlType>()->value;
59}
60
62{
63 return std::make_shared<DiscreteControlSampler>(this);
64}
65
70
72{
73 delete static_cast<ControlType *>(control);
74}
75
77{
78 control->as<ControlType>()->value = lowerBound_;
79}
80
81void ompl::control::DiscreteControlSpace::printControl(const Control *control, std::ostream &out) const
82{
83 out << "DiscreteControl [";
84 if (control != nullptr)
85 out << control->as<ControlType>()->value;
86 else
87 out << "nullptr";
88 out << ']' << std::endl;
89}
90
92{
93 out << "Discrete control space '" << getName() << "' with bounds [" << lowerBound_ << ", " << upperBound_ << "]"
94 << std::endl;
95}
96
98{
99 if (lowerBound_ > upperBound_)
100 throw Exception("Lower bound cannot be larger than upper bound for a discrete space");
102}
103
105{
106 return sizeof(int);
107}
108
109void ompl::control::DiscreteControlSpace::serialize(void *serialization, const Control *ctrl) const
110{
111 memcpy(serialization, &ctrl->as<ControlType>()->value, sizeof(int));
112}
113
114void ompl::control::DiscreteControlSpace::deserialize(Control *ctrl, const void *serialization) const
115{
116 memcpy(&ctrl->as<ControlType>()->value, serialization, sizeof(int));
117}
The exception type for ompl.
Definition Exception.h:47
int uniformInt(int lower_bound, int upper_bound)
Generate a random integer within given bounds: [lower_bound, upper_bound].
A shared pointer wrapper for ompl::control::ControlSampler.
const ControlSpace * space_
The control space this sampler operates on.
RNG rng_
Instance of random number generator.
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
T * as()
Cast this instance to a desired type.
Definition of an abstract control.
Definition Control.h:48
const T * as() const
Cast this instance to a desired type.
Definition Control.h:64
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
int value
The current control - an int in range [lowerBound, upperBound].
A space representing discrete controls; i.e. there are a small number of discrete controls the system...
bool equalControls(const Control *control1, const Control *control2) const override
Check if two controls are the same.
void printSettings(std::ostream &out) const override
Print the settings for this control space to a stream.
void printControl(const Control *control, std::ostream &out) const override
Print a control to a stream.
void deserialize(Control *ctrl, const void *serialization) const override
Deserializes a control from the serialization buffer.
int getUpperBound() const
Returns the highest possible control value.
unsigned int getSerializationLength() const override
Returns the serialization size for a single control in this space.
unsigned int getDimension() const override
Get the dimension of this control space.
void freeControl(Control *control) const override
Free the memory of a control.
void serialize(void *serialization, const Control *ctrl) const override
Serializes the given control into the serialization buffer.
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation.
Control * allocControl() const override
Allocate memory for a control.
void copyControl(Control *destination, const Control *source) const override
Copy a control to another.
int getLowerBound() const
Returns the lowest possible control value.
ControlSamplerPtr allocDefaultControlSampler() const override
Allocate the default control sampler.
void nullControl(Control *control) const override
This sets the control value to lowerBound_.