RealVectorControlSpace.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/control/spaces/RealVectorControlSpace.h"
38 #include "ompl/util/Exception.h"
39 #include <cstring>
40 #include <limits>
41 
43 {
44  const unsigned int dim = space_->getDimension();
45  const base::RealVectorBounds &bounds = static_cast<const RealVectorControlSpace *>(space_)->getBounds();
46 
47  auto *rcontrol = static_cast<RealVectorControlSpace::ControlType *>(control);
48  for (unsigned int i = 0; i < dim; ++i)
49  rcontrol->values[i] = rng_.uniformReal(bounds.low[i], bounds.high[i]);
50 }
51 
53 {
55  bounds_.check();
56 }
57 
59 {
60  bounds.check();
61  if (bounds.low.size() != dimension_)
62  throw Exception("Bounds do not match dimension of control space: expected dimension " +
63  std::to_string(dimension_) + " but got dimension " + std::to_string(bounds.low.size()));
64  bounds_ = bounds;
65 }
66 
68 {
69  return dimension_;
70 }
71 
73 {
74  memcpy(static_cast<ControlType *>(destination)->values, static_cast<const ControlType *>(source)->values,
75  controlBytes_);
76 }
77 
78 bool ompl::control::RealVectorControlSpace::equalControls(const Control *control1, const Control *control2) const
79 {
80  const double *s1 = static_cast<const ControlType *>(control1)->values;
81  const double *s2 = static_cast<const ControlType *>(control2)->values;
82  for (unsigned int i = 0; i < dimension_; ++i)
83  {
84  double diff = (*s1++) - (*s2++);
85  if (fabs(diff) > std::numeric_limits<double>::epsilon() * 2.0)
86  return false;
87  }
88  return true;
89 }
90 
92 {
93  return std::make_shared<RealVectorControlUniformSampler>(this);
94 }
95 
97 {
98  auto *rcontrol = new ControlType();
99  rcontrol->values = new double[dimension_];
100  return rcontrol;
101 }
102 
104 {
105  auto *rcontrol = static_cast<ControlType *>(control);
106  delete[] rcontrol->values;
107  delete rcontrol;
108 }
109 
111 {
112  auto *rcontrol = static_cast<ControlType *>(control);
113  for (unsigned int i = 0; i < dimension_; ++i)
114  {
115  if (bounds_.low[i] <= 0.0 && bounds_.high[i] >= 0.0)
116  rcontrol->values[i] = 0.0;
117  else
118  rcontrol->values[i] = bounds_.low[i];
119  }
120 }
121 
122 double *ompl::control::RealVectorControlSpace::getValueAddressAtIndex(Control *control, const unsigned int index) const
123 {
124  return index < dimension_ ? static_cast<ControlType *>(control)->values + index : nullptr;
125 }
126 
127 void ompl::control::RealVectorControlSpace::printControl(const Control *control, std::ostream &out) const
128 {
129  out << "RealVectorControl [";
130  if (control != nullptr)
131  {
132  const auto *rcontrol = static_cast<const ControlType *>(control);
133  for (unsigned int i = 0; i < dimension_; ++i)
134  {
135  out << rcontrol->values[i];
136  if (i + 1 < dimension_)
137  out << ' ';
138  }
139  }
140  else
141  out << "nullptr";
142  out << ']' << std::endl;
143 }
144 
146 {
147  out << "Real vector control space '" << getName() << "' with bounds: " << std::endl;
148  out << " - min: ";
149  for (unsigned int i = 0; i < dimension_; ++i)
150  out << bounds_.low[i] << " ";
151  out << std::endl;
152  out << " - max: ";
153  for (unsigned int i = 0; i < dimension_; ++i)
154  out << bounds_.high[i] << " ";
155  out << std::endl;
156 }
157 
159 {
160  return controlBytes_;
161 }
162 
163 void ompl::control::RealVectorControlSpace::serialize(void *serialization, const Control *ctrl) const
164 {
165  memcpy(serialization, ctrl->as<ControlType>()->values, controlBytes_);
166 }
167 
168 void ompl::control::RealVectorControlSpace::deserialize(Control *ctrl, const void *serialization) const
169 {
170  memcpy(ctrl->as<ControlType>()->values, serialization, controlBytes_);
171 }
unsigned int getSerializationLength() const override
Returns the serialization size for a single control in this space.
ControlSamplerPtr allocDefaultControlSampler() const override
Allocate the default control sampler.
void copyControl(Control *destination, const Control *source) const override
Copy a control to another.
RNG rng_
Instance of random number generator.
Control * allocControl() const override
Allocate memory for a control.
void setBounds(const base::RealVectorBounds &bounds)
Set the bounds (min max values for each dimension) for the control.
bool equalControls(const Control *control1, const Control *control2) const override
Check if two controls are the same.
Definition of an abstract control.
Definition: Control.h:111
std::vector< double > low
Lower bound.
double * getValueAddressAtIndex(Control *control, unsigned int index) const override
Many controls contain a number of double values. This function provides a means to get the memory add...
virtual unsigned int getDimension() const =0
Get the dimension of this control space.
std::vector< double > high
Upper bound.
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation.
void check() const
Check if the bounds are valid (same length for low and high, high[i] > low[i]). Throw an exception if...
void freeControl(Control *control) const override
Free the memory of a control.
A shared pointer wrapper for ompl::control::ControlSampler.
void printSettings(std::ostream &out) const override
Print the settings for this control space to a stream.
void serialize(void *serialization, const Control *ctrl) const override
Serializes the given control into the serialization buffer.
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
void deserialize(Control *ctrl, const void *serialization) const override
Deserializes a control from the serialization buffer.
A control space representing Rn.
void nullControl(Control *control) const override
Make the control have no effect if it were to be applied to a state for any amount of time.
void sample(Control *control) override
Sample a control. All other control sampling functions default to this one, unless a user-specified i...
const T * as() const
Cast this instance to a desired type.
Definition: Control.h:160
unsigned int getDimension() const override
Get the dimension of this control space.
void setup() override
Perform final setup steps. This function is automatically called by the SpaceInformation.
double * values
An array of length n, representing the value of the control.
The exception type for ompl.
Definition: Exception.h:78
void printControl(const Control *control, std::ostream &out) const override
Print a control to a stream.
const ControlSpace * space_
The control space this sampler operates on.
The lower and upper bounds for an Rn space.