A manifold representing the space of applicable controls. More...
#include <ControlManifold.h>
Public Member Functions | |
ControlManifold (const base::StateManifoldPtr &stateManifold) | |
Construct a control manifold, given the state manifold. | |
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 manifold. | |
void | setName (const std::string &name) |
Set the name of the manifold. | |
const base::StateManifoldPtr & | getStateManifold (void) const |
Return the state manifold this control manifold depends on. | |
virtual unsigned int | getDimension (void) const =0 |
Get the dimension of this manifold. | |
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 void | propagate (const base::State *state, const Control *control, const double duration, base::State *result) const |
Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true) | |
virtual bool | canPropagateBackward (void) const |
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() function is always positive). If this is the case, this function should return false. Planners that need backward propagation (negative durations) will call this function to check. If backward propagation is possible, this function should return true (this is the default). | |
void | setPropagationFunction (const StatePropagationFn &fn) |
Set the function that performs state propagation. | |
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 manifold to a stream. | |
virtual void | setup (void) |
Perform final setup steps. This function is automatically called by the SpaceInformation. | |
Protected Attributes | |
base::StateManifoldPtr | stateManifold_ |
The state manifold controls can be applied to. | |
StatePropagationFn | statePropagation_ |
Function that can perform state propagation. |
A manifold representing the space of applicable controls.
Definition at line 67 of file ControlManifold.h.
const T* ompl::control::ControlManifold::as | ( | void | ) | const [inline] |
Cast this instance to a desired type.
Make sure the type we are casting to is indeed a control manifold
Definition at line 88 of file ControlManifold.h.
T* ompl::control::ControlManifold::as | ( | void | ) | [inline] |
Cast this instance to a desired type.
Make sure the type we are casting to is indeed a control manifold
Definition at line 78 of file ControlManifold.h.
void ompl::control::ControlManifold::propagate | ( | const base::State * | state, |
const Control * | control, | ||
const double | duration, | ||
base::State * | result | ||
) | const [virtual] |
Propagate from a state, given a control, for some specified amount of time (the amount of time can also be negative, if canPropagateBackward() returns true)
state | the state to start propagating from |
control | the control to apply |
duration | the duration for which the control is applied |
result | the state the system is brought to |
Reimplemented in ompl::control::CompoundControlManifold, and ompl::control::ODEControlManifold.
Definition at line 83 of file ControlManifold.cpp.